Multi-Robot Testbed for Search
and Rescue Mission
11th Annual COE Graduate Poster Presentation Competition
Student: Justin Blackman (MS)
Advisors: Dr. Redwan and Dr. Karimoddini
Cross-Disciplinary Research Area: Aerospace and Transportation Systems
- To fully integrate robotic platforms in the Robotic Operating System (ROS) using an Unmanned Ground Vehicle (UGV), a Robotic Arm, and a Drone that work cooperatively to complete a Rescue mission.
- Develop a decentralized and formal method for task allocation in a search and rescue mission by combining market-based task allocation and behavior tree decision making.
- A multi-robot platform can offer more functionality when robots with different sets of capabilities can complement each other to carry out a cooperative mission.
- A distress signal is received from an injured person in an environment. The mission is to search for and deliver a care package to that person.
- Multiple robots will be deployed to complete the mission.
- Tasks are assigned to the robots subject to the most efficient allocation of resources.
- The end goal is to demonstrate the ability of autonomous robotic platforms to work cooperatively to complete shared missions in an effective manner.
- Turtlebot
- Ground vehicle that is able to search environment.
- Parrot Bebop Drone
- Aerial vehicle that is able to search environment.
- Jaguar Robot w/ Robotic Arm
- Ground vehicle that is able to deliver a package using attached robotic arm.
Figure 10: Parrot Bebop Drone
Figure 1: Robot Collaboration
- Wang, T., Shi, D., & Yi, W. (2020, November). Extending Behavior Trees with Market-Based Task Allocation in Dynamic Environments. In Proceedings of the 2020 4th International Symposium on Computer Science and Intelligent Control (pp. 1-8).
- Burgard, W., Moors, M., Stachniss, C., & Schneider, F. E. (2005). Coordinated multi-robot exploration. IEEE Transactions on robotics, 21(3), 376-386.
- Tadewos, Tadewos G., Laya Shamgah, and Ali Karimoddini. "Automatic Decentralized Behavior Tree Synthesis and Execution for Coordination of Autonomous Vehicles."
- Tadewos, Tadewos G., Laya Shamgah, and Ali Karimoddini. "Behaviour Tree Based Decentralized Coordination of Autonomous Vehicles."
MARKET-BASED TASK ALLOCATION
BEHAVIOR TREE DECISION MAKING
- Search for and locate an injured person in an indoor environment.
- Deliver a care package to the location of the injured person.
- Return each robot to it’s respective base.
- The entire Rescue mission including tasking, planning, coordination, and control will be conducted autonomously.
Market Based Auctioning level 1
Market Based Auctioning level 2
Figure 2: Auctioning Level-1
Figure 3: Auctioning Level-2
Figure 4: Market-based Auctioning
Search – deploys agent to search for P.
Transmit – transmits P.
Grab – holds CP in robot arm.
WaitTransmit – waits for P TxRx.
MoveTo – moves agent to P.
Place – places CP down at P.
Figure 6: Rescue Mission Action Bank
Figure 7: Synthesized BT for Search Action
Figure 8: Synthesized BT for Deliver Action