A multiagent cooperative mobile robotics approach for search and rescue missions

Abstract This paper presents a reusable framework for coordinating a team of mobile robots that can accomplish high level or tightly coupled missions, which could not be easily achieved using single robot solutions. To complete this task, we consider the behavior-based architecture model for the basic control layer. For coordinating the team of autonomous mobile robots, we use the agent-oriented software engineering paradigm. We apply the combination of a single and of multiagent techniques for evaluating a search-and-rescue mission. The experiments are using the Pioneer 2 DX robot and the Saphira simulator.