Coordinated Road Search

Geoff Hollinger, Ben Grocholsky, Brad Hamner, Sanjiv Singh

3D Road Search Movies

The following five movies show 3D simulations of mobile ground vehicles (blue) searching for a target (red) in a realistic road environment taken from the Squirrel Hill neighborhood in Pittsburgh. In all movies, an unmanned air vehicle (UAV) provides assisting location information about the target. Lightly shaded sections of the road map denote probable locations of the target.

3D movie with two searchers, moving target, and UAV observer (example 1)

3D movie with two searchers, moving target, and UAV observer (example 2)

3D movie with one searcher, moving target, and UAV observer

3D movie with two searchers, stationary target, and UAV observer

3D movie with one searcher, stationary target, and UAV observer

2D Road Search Movies

The following six movies show 2D simulations in a less complex environment.

2D movie with two searchers, moving target, and UAV observer

2D movie with one searcher, moving target, and UAV observer

2D movie with two searchers, stationary target, and UAV observer

2D movie with two searchers, moving target, and no observer

2D movie with one searcher, moving target, and no observer

2D movie with two searchers, stationary target, and no observer

Paper Link

This work is based on the fundamentals described in the following paper:

G. Hollinger, A. Kehagias, S. Singh, "Probabilistic Strategies for Pursuit in Cluttered Environments with Multiple Robots," In Proc. Int'l Conf. Robotics (ICRA), 2007.