Towards heterogeneous robot team path planning in dynamic search and rescue scenarios
Roman Lavrenov, Aidar Gabdullin, Ilya M. Afanasyev, Vadim Indelman, Evgeni Magid · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2016
Our research focuses on effective operation of heterogeneous robotic group that could carry out point-to point navigation in GPS-denied dynamic environment, applying a mixed local and global planning approach, and such instruments as planning in belief space and SLAM. In this paper we introduce our heterogeneous group robots and their modelling in ROS/Gazebo, and briefly describe Homotopy based high level planner solution.