Towards a Generic Control Architecture of Rescue Robot Systems

摘要

This paper proposes a generic control architecture for robot systems performing search and rescue operations. The multimodal attention is introduced as an important factor in the design and implementation of control architecture for robot systems. We also considered a reliable learning ability of robot system about an explored environment as another important aspect to increase the robustness of decision processes. These decision processes include safe navigation through cluttered environment, search for victims in complex scenarios and obtaining a map of targeted environment.