Dynamic heterogeneous team formation for robotic urban search and rescue

Abstract

I developed a framework to support the maintenance of teams of heterogeneous robots operating in complex and dynamic environments such as disaster zones. Given an established team, my work also facilitates the discovery of work to be done during the team's mission and its subsequent assignment to members of the team in a distributed fashion. I evaluated my framework through the development of an example implementation where robots perform exploration in order to locate victims in a simulated disaster environment.