Most Recent Dissertation Advances.

1. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Coordination of Multiple Robotic Agents for
Disasters and Emergency Response
A USAR First Responders Approach
Jes´s Salvador Cepeda Barrera
u
Tecnol´gico de Monterrey
o
March 15th, 2012
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 1 / 98

2. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Outline
1 Introduction
Background and Motivation
Problem Statement and Research Questions
2 Literature Review
Relevant Contributions
Standards and Open Issues
3 Solution Detail
MaSE: Analysis
MaSE: Design
4 Experiments and Results
Service-oriented Robotics (SOR)
Testbed Behavior-based Implementations
5 Conclusions
Summary of Contributions
Future Work
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 2 / 98

3. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Outline
1 Introduction
Background and Motivation
Problem Statement and Research Questions
2 Literature Review
Relevant Contributions
Standards and Open Issues
3 Solution Detail
MaSE: Analysis
MaSE: Design
4 Experiments and Results
Service-oriented Robotics (SOR)
Testbed Behavior-based Implementations
5 Conclusions
Summary of Contributions
Future Work
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 3 / 98

4. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Background and Motivation
Outline
1 Introduction
Background and Motivation
Problem Statement and Research Questions
2 Literature Review
Relevant Contributions
Standards and Open Issues
3 Solution Detail
MaSE: Analysis
MaSE: Design
4 Experiments and Results
Service-oriented Robotics (SOR)
Testbed Behavior-based Implementations
5 Conclusions
Summary of Contributions
Future Work
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 4 / 98

5. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Background and Motivation
Introduction
Multi-Robot Systems
Rising popularity:
Better Software
Better Hardware
Lowering Costs
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 5 / 98

6. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Background and Motivation
Introduction
Application Domains
Military, Exploration,
Surveillance, Search
and Rescue,
Multi-Robot Systems Automation: Home
Rising popularity: and Industry...
Better Software
Better Hardware
Lowering Costs
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 5 / 98

7. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Background and Motivation
Introduction
Application Domains
Military, Exploration,
Surveillance, Search
and Rescue,
Multi-Robot Systems Automation: Home
Rising popularity: and Industry...
Better Software
Main Reasons
Better Hardware
Lowering Costs Costs, Performance,
Efficiency, Reliability,
Reduced Human
Exposure...
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 5 / 98

8. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Background and Motivation
Introduction
Application Domains
Military, Exploration,
Surveillance, Search Increasing Challenges
and Rescue, Coordination,
Multi-Robot Systems Automation: Home Control,
and Industry... SLAM,
Rising popularity:
Tracking,
Better Software Resource
Main Reasons
Better Hardware Management,
Lowering Costs Costs, Performance,
Suitable
Efficiency, Reliability,
Communication...
Reduced Human
Exposure...
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 5 / 98

9. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Background and Motivation
Trends and Benefits in the use of Autonomous MRS
Figure: Autonomy trends towards 2015 [8].
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 6 / 98

10. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Background and Motivation
Trends and Benefits in the use of Autonomous MRS
Inherent Advantages of MRS [27]
Diversity
Greater Efficiency
Improved System
Performance
Fault Tolerance
Robustness
Substitutability
Lower Economic Cost
Ease of Development
Distributed Sensing and
Action
Figure: Autonomy trends towards 2015 [8].
Inherent Parallelism
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 6 / 98

11. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Background and Motivation
Rescue Robotics = USAR Robotics = USAR
Application Domains
Search and Rescue
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 7 / 98

12. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Background and Motivation
Rescue Robotics = USAR Robotics = USAR
Application Domains History Facts
Search and Rescue
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 7 / 98

13. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Background and Motivation
Rescue Robotics = USAR Robotics = USAR
Application Domains History Facts
1995. Hanshin-Awajii Earthquake, Kobe, Japan.
Search and Rescue
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 7 / 98

14. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Background and Motivation
Rescue Robotics = USAR Robotics = USAR
Application Domains History Facts
1995. Hanshin-Awajii Earthquake, Kobe, Japan.
Search and Rescue
2001. 9/11 WTC Attacks, New York, US.
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 7 / 98

15. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Background and Motivation
Rescue Robotics = USAR Robotics = USAR
Application Domains History Facts
1995. Hanshin-Awajii Earthquake, Kobe, Japan.
Search and Rescue
2001. 9/11 WTC Attacks, New York, US.
Definition ([41, 54])
The essence of USAR is to save lives but, other
possibilities include: search , reconnaissance and
mapping , rubble removal, structural inspection ,
in-situ medical assessment and intervention, act-
ing as a mobile beacon or repeater, serving as a
surrogate , adaptively shoring unstable rubble, lo-
gistics support, instant deployment, among other
human-impossible tasks.
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 7 / 98

16. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Background and Motivation
72-Golden Hours
Figure: A typical behavior in victim Figure: Survival chances according
localization [54]. to victim localization time [12].
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 8 / 98

17. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Background and Motivation
What’s a Disaster ? I
Definition (Emergency Management [36])
Disasters are defined as deadly, destructive, and disruptive events that
occur when hazards interact with human vulnerability. These hazards come
to be the threat such as an earthquake, CBRNE, terrorist attack, among
others (complete list in [36]).
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 9 / 98

18. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Background and Motivation
What’s a Disaster ? I
Definition (Emergency Management [36])
Disasters are defined as deadly, destructive, and disruptive events that
occur when hazards interact with human vulnerability. These hazards come
to be the threat such as an earthquake, CBRNE, terrorist attack, among
others (complete list in [36]).
Definition (Rescue Robotics [41])
Disasters are highly uncertain, unstructured and dynamic environments
in which actions must occur as fast as possible. These environments make
it hard for robots to keep their footing, communicate, sense and to take
deliberative decisions because of time constraints, among other difficulties.
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 9 / 98

19. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Background and Motivation
What’s a Disaster ? II
Table: Comparison of event magnitude [36].
Accidents Crises Emergencies/ Calamities/ Catas-
Disasters trophes
Injuries few many scores/hundreds hundreds/thousands
Deaths few many scores/hundreds hundreds/thousands
Damage minor moderate major severe
Disruption minor moderate major severe
Geographic localized disperse disperse/diffuse disperse/diffuse
Impact
Availability of abundant sufficient limited scarce
Resources
Number of few many hundreds hundreds/thousands
Responders
Recovery minutes/ days/weeks months/years years/decades
Time hours/days
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 10 / 98

20. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Background and Motivation
What’s Disaster Response ? I
Pre-Incident Phases.
1 Mitigation.
2 Preparedness.
Post-Incident Phases.
3 Response.
4 Recover.
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 11 / 98

21. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Background and Motivation
What’s Disaster Response ? I
Pre-Incident Phases. Definition ([36, 54, 41])
1 Mitigation. Disaster response requires the capabilities of
2 Preparedness. being as fast as possible for rescuing survivors
and avoiding any further damage, while being
cautious and delicate enough to prevent any
Post-Incident Phases.
additional risk. It consists of the actions
3 Response. immediately after the disaster for protecting
4 Recover. lives and property.
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 11 / 98

22. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Background and Motivation
What’s Disaster Response ? II
Persistent Disaster Response Operational Procedure [36, 54, 41].
1) Gather the facts.
2) Asses damage.
3) Identify and acquire resources.
4) Establish rescue priorities.
5) Develop a rescue plan.
6) Conduct the search and rescue operations.
Search , cover , follow walls , analyse debris ,
listen for survivors , develop everything that is considered
as useful for saving lives. According to [54], this step is
the one that takes the longest time.
7) Evaluate progress.
Prevention of further damage demands for continuously
monitoring the situation including to see if the plan is
working or there must be a better strategy.
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 12 / 98

23. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Problem Statement and Research Questions
Outline
1 Introduction
Background and Motivation
Problem Statement and Research Questions
2 Literature Review
Relevant Contributions
Standards and Open Issues
3 Solution Detail
MaSE: Analysis
MaSE: Design
4 Experiments and Results
Service-oriented Robotics (SOR)
Testbed Behavior-based Implementations
5 Conclusions
Summary of Contributions
Future Work
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 13 / 98

24. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Problem Statement and Research Questions
A Particular Need for Rescue Robots
Witnessed Human Errors [36].
Untrained volunteers,
Too many volunteers,
Encountered priorities,
Bureaucracy/Formalities,
Emotions, frustrations, ...
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 14 / 98

25. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Problem Statement and Research Questions
A Particular Need for Rescue Robots
Rescue Robots [41, 54]
Built for specific purposes,
Witnessed Human Errors [36]. Robots do not look for
Untrained volunteers, relatives,
Too many volunteers, Instant deployable,
Encountered priorities, No emotions, no frustrations,
Bureaucracy/Formalities, Usually expendable,
Emotions, frustrations, ... Highly capable for search
and coverage, wall following,
sensing under harsh
environments, ...
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 14 / 98

26. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Problem Statement and Research Questions
Problem Statement
How do we coordinate and control multiple robots
so as to achieve cooperative behavior for assisting
in disaster and emergency response, specifically, in
urban search and rescue operations?
Main Factors
Navigation, Strategy, and Time.
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 15 / 98

27. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Problem Statement and Research Questions
Research Questions
1 How to formulate, describe, decompose and allocate
USAR missions among a MRS so as to achieve faster
completion?
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 16 / 98

28. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Problem Statement and Research Questions
Research Questions
1 How to formulate, describe, decompose and allocate
USAR missions among a MRS so as to achieve faster
completion?
2 How to provide appropriate communication,
interaction, and conflict recognition and
reconciliation between the MRS so as to achieve
efficient interoperability in USAR?
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 16 / 98

29. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Problem Statement and Research Questions
Research Questions
1 How to formulate, describe, decompose and allocate
USAR missions among a MRS so as to achieve faster
completion?
2 How to provide appropriate communication,
interaction, and conflict recognition and
reconciliation between the MRS so as to achieve
efficient interoperability in USAR?
3 How to ensure robustness for USAR mission
accomplishment with current technology which is
better for simple but fast control?
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 16 / 98

30. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Problem Statement and Research Questions
Research Questions
1 How to formulate, describe, decompose and allocate
USAR missions among a MRS so as to achieve faster
completion?
2 How to provide appropriate communication,
interaction, and conflict recognition and
reconciliation between the MRS so as to achieve
efficient interoperability in USAR?
3 How to ensure robustness for USAR mission
accomplishment with current technology which is
better for simple but fast control?
4 How to measure performance in USAR so as to learn
and adapt robotic behaviors?
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 16 / 98

31. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Problem Statement and Research Questions
Research Questions
1 How to formulate, describe, decompose and allocate
USAR missions among a MRS so as to achieve faster
completion?
2 How to provide appropriate communication,
interaction, and conflict recognition and
reconciliation between the MRS so as to achieve
efficient interoperability in USAR?
3 How to ensure robustness for USAR mission
accomplishment with current technology which is
better for simple but fast control?
4 How to measure performance in USAR so as to learn
and adapt robotic behaviors?
5 How to make the whole system extendible, scalable,
robust and reliable?
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 16 / 98

32. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Outline
1 Introduction
Background and Motivation
Problem Statement and Research Questions
2 Literature Review
Relevant Contributions
Standards and Open Issues
3 Solution Detail
MaSE: Analysis
MaSE: Design
4 Experiments and Results
Service-oriented Robotics (SOR)
Testbed Behavior-based Implementations
5 Conclusions
Summary of Contributions
Future Work
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 17 / 98

33. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Relevant Contributions
Outline
1 Introduction
Background and Motivation
Problem Statement and Research Questions
2 Literature Review
Relevant Contributions
Standards and Open Issues
3 Solution Detail
MaSE: Analysis
MaSE: Design
4 Experiments and Results
Service-oriented Robotics (SOR)
Testbed Behavior-based Implementations
5 Conclusions
Summary of Contributions
Future Work
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 18 / 98

34. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Relevant Contributions
Information Collection I [2]
Figure: Task force in rescue infrastructure. Image from [2]
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 19 / 98

35. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Relevant Contributions
Information Collection II [26, 9]
Figure: Examples of templates for disaster response. Image based on [26, 9]
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 20 / 98

36. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Relevant Contributions
Coordination, Localization and Mapping
Figure: Coordinated Figure: Real model
exploration using Figure: Visual and generated maps
costs and utilities. localization and path of a 60 m. hall using
Edited from [10] following. Edited a MRS.Image
from [19] from [20].
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 21 / 98

37. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Relevant Contributions
Recognition and User Interfacing
Figure: Human and human-behavior Figure: Interface for multi-robot
vision-based recognition. Edited rescue systems. Image from [43]
from [18, 42]
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 22 / 98

38. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Relevant Contributions
Design Challenges
Key Aspects
[7, 37, 39, 6, 28, 40, 54]
Small
Expendable
Usable
Hazards-protected
Instrumentation
Mobility Figure: Miniature, Wheeled and
Tracked Rescue Robots [25, 40, 48].
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 23 / 98

39. Some Other Robots
Figure: Rescue robots: a) Talon, b) Wolverine V-2, c) RHex, d) iSENSYS IP3,
e) Intelligent Aerobot, f) muFly microcopter, g) Chinese firefighting robot, h)
Teleoperated extinguisher, i) Unmanned surface vehicle, j) Predator, k)
T-HAWK, l) Bluefin HAUV. Images from [35, 28, 41, 54, 56]

40. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Relevant Contributions
Real Implementations: No significant results.
Figure: Real pictures from the WTC
Tower 2. a) shows a rescue robot
within the white box navigating in
the rubble; b) robots-eye view with
three sets of victim remains. Image
edited from [39] and [38] Figure: Mine rescue: a) (SE),
b)(BE), c) (VE), d) Inuktun in a
BE [40].
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 25 / 98

41. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Relevant Contributions
Testbed Implementations
Figure: MRS for search and
monitoring: a) Piper J3 UAVs; b) Figure: Demonstration of integrated
heterogeneous UGVs. Edited search operations: a) robots at
from [22] initial positions, b) robots searching
for human target, c) alert of target
found, d) display nearest UGV view
of the target. Edited from [22]
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 26 / 98

42. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Standards and Open Issues
Outline
1 Introduction
Background and Motivation
Problem Statement and Research Questions
2 Literature Review
Relevant Contributions
Standards and Open Issues
3 Solution Detail
MaSE: Analysis
MaSE: Design
4 Experiments and Results
Service-oriented Robotics (SOR)
Testbed Behavior-based Implementations
5 Conclusions
Summary of Contributions
Future Work
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 27 / 98

43. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Standards and Open Issues
USAR International Standards: RoboCup Rescue
2002-
Figure: Standardized test arenas for
rescue robotics: a) Red Arena, b)
Orange Arena, c) Yellow Arena.
Image from [11]
Figure: Standardized evaluations
provided by the NIST [44].
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 28 / 98

44. Opportunity Areas
Research Challenges [41, 54, 52]
Control
Communications
Sensors and Perceptions
Mobility
Power
HRI
Localization and data
integration
Autonomy
Cooperation
Figure: Major challenges for networked
robots. Image from [24]. Performance Metrics
Components’ Performance

45. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Standards and Open Issues
Roadmap to 2015 [54]
Hardware design and Information collection
Unmanned vehicles will be more hazards-protected and better
equipped for search and gather information from
disasters.
...
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 30 / 98

46. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Standards and Open Issues
Roadmap to 2015 [54]
Hardware design and Information collection
Unmanned vehicles will be more hazards-protected and better
equipped for search and gather information from
disasters.
...
Victim triage and structural damage assessment.
HRI: augment autonomy and intelligence on robots.
...
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 30 / 98

47. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Outline
1 Introduction
Background and Motivation
Problem Statement and Research Questions
2 Literature Review
Relevant Contributions
Standards and Open Issues
3 Solution Detail
MaSE: Analysis
MaSE: Design
4 Experiments and Results
Service-oriented Robotics (SOR)
Testbed Behavior-based Implementations
5 Conclusions
Summary of Contributions
Future Work
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 31 / 98

48. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Solution Detail
Given a search and rescue scenario, the needs for
disaster response operations, and the reported con-
tributions over literature; how can we come up
with an integral solution ?
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 32 / 98

49. Multi-Agent Systems Engineering: MaSE [57]

50. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
MaSE: Analysis
Outline
1 Introduction
Background and Motivation
Problem Statement and Research Questions
2 Literature Review
Relevant Contributions
Standards and Open Issues
3 Solution Detail
MaSE: Analysis
MaSE: Design
4 Experiments and Results
Service-oriented Robotics (SOR)
Testbed Behavior-based Implementations
5 Conclusions
Summary of Contributions
Future Work
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 34 / 98

51. Capturing Goals
Figure: USAR Requirements [51, 3, 15, 16, 49, 53, 41, 54, 52]

52. Applying Use Cases: SD-I
Figure: Sequence Diagram I: Explore and
Cover [31, 32, 33, 34, 4, 45, 10, 55, 6, 21, 39, 41]

53. Applying Use Cases: SD-IIa
Figure: Sequence Diagram IIa: Recognize and
Identify [30, 33, 45, 5, 47, 29, 18, 42, 17, 46]

54. Applying Use Cases: SD-IIb
Figure: Sequence Diagram IIb: Recognize and
Identify [30, 33, 45, 5, 47, 29, 18, 42, 17, 46]

55. Applying Use Cases: SD-III
Figure: Sequence Diagram III: Support and
Relief [10, 6, 15, 3, 46, 24, 54, 41, 16, 49]

56. Roles and Agent Classes I

57. Roles and Agent Classes II

58. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
MaSE: Design
Outline
1 Introduction
Background and Motivation
Problem Statement and Research Questions
2 Literature Review
Relevant Contributions
Standards and Open Issues
3 Solution Detail
MaSE: Analysis
MaSE: Design
4 Experiments and Results
Service-oriented Robotics (SOR)
Testbed Behavior-based Implementations
5 Conclusions
Summary of Contributions
Future Work
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 42 / 98

59. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
MaSE: Design
Design as a Service
Advantages
Modularity.
Compositional functionality.
Provide simple abstraction.
Manageability of heterogeneity.
Ease of integrating new robots.
Inherent distributed structure.
Fully meshed data interchange.
Support dynamic discovery.
Rapid prototyping.
Highly reusable/upgradeable.
Figure: Service-oriented design.
Devices and language
independent.
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 43 / 98

60. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
MaSE: Design
Behaviors as a Service
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Figure: Generic group architecture overview.
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 44 / 98

61. Assembling Agent Classes
Figure: Generic group architecture overview.

62. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
MaSE: Design
Coordination: Finite State Automata
Figure: From states to behaviors in single and multiple robots. Edited from [1].
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 46 / 98

63. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
MaSE: Design
Coordination: Behaviors Fusion
Figure: Classic and new artificial intelligence approaches. Edited from [50].
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 47 / 98

64. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Outline
1 Introduction
Background and Motivation
Problem Statement and Research Questions
2 Literature Review
Relevant Contributions
Standards and Open Issues
3 Solution Detail
MaSE: Analysis
MaSE: Design
4 Experiments and Results
Service-oriented Robotics (SOR)
Testbed Behavior-based Implementations
5 Conclusions
Summary of Contributions
Future Work
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 48 / 98

65. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Service-oriented Robotics (SOR)
Outline
1 Introduction
Background and Motivation
Problem Statement and Research Questions
2 Literature Review
Relevant Contributions
Standards and Open Issues
3 Solution Detail
MaSE: Analysis
MaSE: Design
4 Experiments and Results
Service-oriented Robotics (SOR)
Testbed Behavior-based Implementations
5 Conclusions
Summary of Contributions
Future Work
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u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 49 / 98

66. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Service-oriented Robotics (SOR)
.NET Robotics: “The Windows Paradigm”
“Avoids common pitfalls by managing: Asynchrony, Concurrency,
Coordination and Failure Handling”.
Figure: DSS service lifecycle and CCR automatic threading [23].
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67. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Service-oriented Robotics (SOR)
Exploiting SOR
Figure: Local and remote data interchange.
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Coordination of Multiple Robotic Agents for Disasters and Emergency Response 51 / 98

68. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Service-oriented Robotics (SOR)
Testing Multiple Service Providers
Figure: Developed tests with off-the-shelf provided services [13].
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u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 52 / 98

69. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Service-oriented Robotics (SOR)
Main Observations I
Figure: Highly transparent simulation to reality [13].
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 53 / 98

70. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Service-oriented Robotics (SOR)
Main Observations II
Figure: Fast, easy and reliable 3D simulations [13].
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 54 / 98

71. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Service-oriented Robotics (SOR)
Towards Complete Deployments
Figure: Service-oriented group architecture [14].
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 55 / 98

72. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Service-oriented Robotics (SOR)
Testing the Idea
Figure: Subscription process and messaging in the proposed architecture [14].
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 56 / 98

73. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Service-oriented Robotics (SOR)
Service-oriented Generic Architecture
Characteristics [14]
1 Robotic hardware independent.
2 Mission/domain independent.
3 Computer resource independent.
4 Multiple autonomy levels.
5 Decentralized functionality.
6 Distributed composition.
7 Upgradeable, extendible and scalable.
8 Enhanced interoperability.
9 Reliable and time-suitable communications.
10 Availability for one-to-many control.
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 57 / 98

74. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Testbed Behavior-based Implementations
Outline
1 Introduction
Background and Motivation
Problem Statement and Research Questions
2 Literature Review
Relevant Contributions
Standards and Open Issues
3 Solution Detail
MaSE: Analysis
MaSE: Design
4 Experiments and Results
Service-oriented Robotics (SOR)
Testbed Behavior-based Implementations
5 Conclusions
Summary of Contributions
Future Work
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 58 / 98

75. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Testbed Behavior-based Implementations
Simulations Framework
Figure: MSRDS .NET Service: mapping, p2p control, path drawing, and
environment loading from .bmp files.
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 59 / 98

76. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Testbed Behavior-based Implementations
Testing Primitive Behaviors
Figure: Wall Following, Seek and Disperse Figure: Object recognition for victim/threat
behaviors. recognition behaviors.
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 60 / 98

77. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Testbed Behavior-based Implementations
Testing Composite Behaviors
Figure: Flocking and Exploration behaviors.
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 61 / 98

78. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Testbed Behavior-based Implementations
Interesting Results: Single Robot
Figure: Autonomous exploration results using one robot.
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 62 / 98

79. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Testbed Behavior-based Implementations
Interesting Results: Multi-Robot
Figure: Autonomous exploration results using multiple robots.
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 63 / 98

80. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Testbed Behavior-based Implementations
Interesting Results: Multi-Robot
Figure: Autonomous exploration results using multiple robots.
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 64 / 98

81. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Testbed Behavior-based Implementations
Interesting Results: Complexity Reduction
Figure: Comparison between a) most popular literature
and b) our behavior-based autonomous exploration.
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 65 / 98

82. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Testbed Behavior-based Implementations
Towards Reality: Testbed Setup
Figure: Robots and environment for deployment tests.
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 66 / 98

83. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Testbed Behavior-based Implementations
Towards Reality: Subsystems Control Service
Figure: Operator Control Unit (OCU) for robot control.
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 67 / 98

84. Towards Reality: System Control Service
Figure: Operator Control Unit (OCU) for robot coordination.

85. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Testbed Behavior-based Implementations
Towards Reality: Localization
Figure: Localization service.
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 69 / 98

86. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Outline
1 Introduction
Background and Motivation
Problem Statement and Research Questions
2 Literature Review
Relevant Contributions
Standards and Open Issues
3 Solution Detail
MaSE: Analysis
MaSE: Design
4 Experiments and Results
Service-oriented Robotics (SOR)
Testbed Behavior-based Implementations
5 Conclusions
Summary of Contributions
Future Work
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 70 / 98

87. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Summary of Contributions
Outline
1 Introduction
Background and Motivation
Problem Statement and Research Questions
2 Literature Review
Relevant Contributions
Standards and Open Issues
3 Solution Detail
MaSE: Analysis
MaSE: Design
4 Experiments and Results
Service-oriented Robotics (SOR)
Testbed Behavior-based Implementations
5 Conclusions
Summary of Contributions
Future Work
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 71 / 98

88. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Summary of Contributions
Main Contributions
1 USAR modularization leveraging local perceptions
and mission decomposition into subtasks concerning
specific role, behaviors and actions.
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 72 / 98

89. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Summary of Contributions
Main Contributions
1 USAR modularization leveraging local perceptions
and mission decomposition into subtasks concerning
specific role, behaviors and actions.
2 Primitive and composite service-oriented behaviors
fully described, decomposed into robotic actions, and
organized by roles for addressing USAR operations.
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 72 / 98

90. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Summary of Contributions
Main Contributions
1 USAR modularization leveraging local perceptions
and mission decomposition into subtasks concerning
specific role, behaviors and actions.
2 Primitive and composite service-oriented behaviors
fully described, decomposed into robotic actions, and
organized by roles for addressing USAR operations.
3 USAR robotic distributed, semi-autonomous
coordinator in a RBA plus FSM strategy with a
SOR-based infrastructure focusing in features such as
modularity, scalability, extendibility, among others.
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 72 / 98

91. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Summary of Contributions
Main Contributions
1 USAR modularization leveraging local perceptions
and mission decomposition into subtasks concerning
specific role, behaviors and actions.
2 Primitive and composite service-oriented behaviors
fully described, decomposed into robotic actions, and
organized by roles for addressing USAR operations.
3 USAR robotic distributed, semi-autonomous
coordinator in a RBA plus FSM strategy with a
SOR-based infrastructure focusing in features such as
modularity, scalability, extendibility, among others.
4 Study of emergence of rescue robotic team behaviors
and their applicability in real disasters.
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 72 / 98

92. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Summary of Contributions
Remarks
Agent Classes
Situatedness, Embodiment, Reactivity, Relevance / Locality, Consistency,
Representation, Synthesis, Cooperation, Interference, Individuality,
Adaptability, Extendible, Programmability, Emergence, Reliability and
Robustness.
System Assembly
Flexible, Scalable, Easy to Upgrade, Heterogeneity Management, Inherent
Negotiation Structure, Fully Meshed Data Interchange, Handles
Communication Disruption, Highly Reusable.
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 73 / 98

93. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Future Work
Outline
1 Introduction
Background and Motivation
Problem Statement and Research Questions
2 Literature Review
Relevant Contributions
Standards and Open Issues
3 Solution Detail
MaSE: Analysis
MaSE: Design
4 Experiments and Results
Service-oriented Robotics (SOR)
Testbed Behavior-based Implementations
5 Conclusions
Summary of Contributions
Future Work
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 74 / 98

94. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Future Work
Towards Full Autonomy
Enhanced Autonomy & Complete Deployments
Implement better 2D and 3D localization methods.
Develop complete Explore + Recognize + Support tests.
Enable for autonomous state transitions at coordinator.
Provide adaptivity and learning capabilities.
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 75 / 98

95. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
Future Work
Other Evaluation Methods
Performance Measurement
TE Task Effectiveness, Completed / Failed.
TTD Task Time Development, Time to complete a task.
TTC Task Time Communicating, Time spent in
communications.
FO Fan Out, Robot utilization.
Others Task/Mission Coverage, RBA Stats, MTBF, Targets
Found, ...
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 76 / 98

96. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
References I
Ronald C. Arkin.
Behavior-Based Robotics.
The MIT Press, 1998.
H. Asama, Y. Hada, K. Kawabata, I. Noda, O. Takizawa, J. Meguro,
K. Ishikawa, T. Hashizume, T. Ohga, K. Takita, M. Hatayama,
F. Matsuno, and S. Tadokoro.
Rescue Robotics. DDT Project on Robots and Systems for Urban
Search and Rescue, chapter 4. Information Infrastructure for Rescue
System, pages 57–70.
Springer, March 2009.
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 77 / 98

97. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
References II
S. Balakirsky, Stefano Carpin, Alexander Kleiner, Michael Lewis,
Arnoud Visser, Jijun Wang, and Vittorio Amos Ziparo.
Towards heterogeneous robot teams for disaster mitigation: Results
and performance metrics from robocup rescue.
Journal of Field Robotics, 24(11-12):943–967, 2007.
T. Balch.
Avoiding the past: a simple but effective strategy for reactive
navigation.
In Robotics and Automation, 1993. Proceedings., 1993 IEEE
International Conference on, volume vol.1, pages 678 –685, may
1993.
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 78 / 98

98. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
References III
T. Balch and R.C. Arkin.
Behavior-based formation control for multirobot teams.
Robotics and Automation, IEEE Transactions on, 14(6):926 –939,
dec 1998.
Andreas Birk and Stefano Carpin.
Rescue robotics - a crucial milestone on the road to autonomous
systems.
Advanced Robotics Journal, 20(5):595–605, 2006.
John G. Blitch.
Artificial intelligence technologies for robot assisted urban search and
rescue.
Expert Systems with Applications, 11(2):109 – 124, 1996.
Army Applications of Artificial Intelligence.
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 79 / 98

99. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
References IV
D. Bowen and S. MacKenzie.
Autonomous collaborative unmanned vehicles: Technological drivers
and constraints.
Technical report, Defence Research and Development Canada, 2003.
Tung Bui and Alex Tan.
A template-based methodology for large-scale ha/dr involving
ephemeral groups - a workflow perspective.
In System Sciences, 2007. HICSS 2007. 40th Annual Hawaii
International Conference on, page 34, jan. 2007.
W. Burgard, M. Moors, C. Stachniss, and F.E. Schneider.
Coordinated multi-robot exploration.
Robotics, IEEE Transactions on, 21(3):376 – 386, june 2005.
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 80 / 98

100. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
References V
Stefano Carpin, Jijun Wang, Michael Lewis, Andreas Birk, and
Adam Jacoff.
High fidelity tools for rescue robotics: Results and perspectives.
In Ansgar Bredenfeld, Adam Jacoff, Itsuki Noda, and Yasutake
Takahashi, editors, RoboCup, volume 4020 of Lecture Notes in
Computer Science, pages 301–311. Springer, 2005.
J. L. Casper, M. Micire, and Robin R. Murphy.
Issues in intelligent robots for search and rescue.
In & C. M. Shoemaker G. R. Gerhart, R. W. Gunderson, editor,
Society of Photo-Optical Instrumentation Engineers (SPIE)
Conference Series, volume 4024 of Presented at the Society of
Photo-Optical Instrumentation Engineers (SPIE) Conference, pages
292–302, jul 2000.
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 81 / 98

101. Introduction Literature Review Solution Detail Experiments and Results Conclusions References
References VI
Jesus S. Cepeda, Luiz Chaimowicz, and Rogelio Soto.
Exploring microsoft robotics studio as a mechanism for
service-oriented robotics.
Latin American Robotics Symposium and Intelligent Robotics
Meeting, 0:7–12, 2010.
Jesus S. Cepeda, Luiz Chaimowicz, and Rogelio Soto.
Towards a service-oriented architecture for teams of heterogeneous
autonomous robots.
In 10th Mexican International Conference on Artificial Intelligence.
IEEE Computer Society, 2011.
C. Chang and Robin R. Murphy.
Towards robot-assisted mass-casualty triage.
In Networking, Sensing and Control, 2007 IEEE International
Conference on, pages 267 –272, april 2007.
Jes´s Salvador Cepeda Barrera
u Tecnol´gico de Monterrey
o
Coordination of Multiple Robotic Agents for Disasters and Emergency Response 82 / 98