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Updated: May 18, 2026

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
Published on: October 14, 2017
Searching dynamic agents with a team of mobile robots
Miguel Juliá1, Arturo Gil, Oscar Reinoso
1Systems Engineering and Automation Department, Miguel Hernandez University of Elche, Avda. Universidad s/n. Edif. Quorum V, 03202 Elche, Alicante, Spain. mjulia@umh.es
Abstract:
This paper presents a new algorithm that allows a team of robots to cooperatively search for a set of moving targets. An estimation of the areas of the environment that are more likely to hold a target agent is obtained using a grid-based Bayesian filter. The robot sensor readings and the maximum speed of the moving targets are used in order to update the grid. This representation is used in a search algorithm that commands the robots to those areas that are more likely to present target agents. This algorithm splits the environment in a tree of connected regions using dynamic programming. This tree is used in order to decide the destination for each robot in a coordinated manner. The algorithm has been successfully tested in known and unknown environments showing the validity of the approach.
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