Sampling-based search for a semi-cooperative target
Isaac Vandermeulen,Roderich Groß,Andreas Kolling,Isaac Vandermeulen,Roderich Groß,Andreas Kolling
Searching for a lost teammate is an important task for multirobot systems. We present a variant of rapidly-expanding random trees (RRT) for generating search paths based on a probabilistic belief of the target teammate's position. The belief is updated using a hidden Markov model built from knowledge of the target's planned or historic behavior. For any candidate search path, this belief is used t...
