In urban search and rescue domains, robots explore the affected terrain to search and assist disaster victims. RoboCup Rescue simulation provides a platform for disaster management where heterogeneous field agents (fire-brigade agent, ambulance agent, and police force agent) collaborate to manage a mimicked calamity situation. The role of police force agents is crucial, as they clear the blocked roads to allow other agents to perform their tasks. In this paper we suggest a distributed multi-robot coordination approach for clearing a road blocked with heavy obstacles. The proposed framework is implemented and simulated in ARGoS, a multi-robot simulator. The experimental results show the validity and satisfactory performance of the proposed approach.

中文翻译：

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在城市搜救环境中使用多机器人的道路通行分布式方法

在城市搜索和救援领域，机器人可以探索受影响的地形，以搜索和援助灾难受害者。RoboCup Rescue模拟为灾难管理提供了一个平台，异类现场人员（消防队人员，救护车人员和警察人员）通过协作来管理模拟的灾难情况。警察特工的角色至关重要，因为他们清除了障碍路，以允许其他特工执行任务。在本文中，我们提出了一种分布式多机器人协调方法，用于清除障碍重重的道路。该框架在多机器人模拟器ARGoS中实现和仿真。实验结果表明了该方法的有效性和令人满意的性能。