Ad-hoc Network Communication Infrastructure for Multi-robot Systems in Disaster Scenarios

Abstract

Mobile ad-hoc networks (MANETs) are communication networks that do not rely on fixed, preinstalled communication devices like base stations or predefined communication cells. MANETs are wireless networks consisting of mobile nodes which are characterized by their decentralized organization and the potentially high dynamics of the network structure. Therefore, MANETs are ideally suitable for applications with multi-robot systems. One of the most promising applications of a multi-robot system is to assist humans in urban search and rescue (USAR) scenarios in the aftermath of natural or man-made disasters. We are focusing on an ad-hoc network communication system with the mobile robots being commu- nication nodes offering a robust communication infrastructure. Main disaster sce- nario covered by our system is a large industrial warehouse in fire, described in the GUARDIANS project funded by the European Union. In this scenario, black smoke may fill large space of the warehouse that makes it very difficult for the firefighters to orientate themselves in the building which in turn will usually limit the action space of the firefighters. In order to increase the coverage area of the fire fighters the ad-hoc network has to provide position data to support localiza- tion of the mobile robots and humans, which might be of great importance to guide the humans and robots to specific targets and locations or to quickly exit the search area.