PA-SaR: Perception-Aware Learning, Control, and Coordination for Multi-Robot Search and Rescue
Overview
This research introduces PA-SaR, a framework integrating local control, learning-based exploration, supervisory task allocation, and adaptive victim guidance for autonomous search and rescue. Simulation studies reveal trade-offs between collision avoidance and search completion, show that increased exploration does not always lead to more rescues, and demonstrate that adaptive guidance improves rescue outcomes relative to continuous leading without improving victim trust or reducing mortality.
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Environment: simulation
“is for integrating complementary mechanisms and analyzing their interactions across mission stages. We demonstrate the framework through single- and multi-robot simulation studies incorporating model-predictive and learning-based exploration, perception-based safety shielding, event-driven task allocation, and adaptive victim guidance. The results show trade-offs between collision avoidance and search completion, ind”
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Control: reported autonomous
“arXiv:2611.11648v2 Announce Type: replace Abstract: Autonomous SaR requires robots to explore unknown or partially known environments, avoid hazards, coordinate team activities, and guide discovered victims to safety. Improving individual capabilities of robots does not necessarily improve mission outcomes: safer motion can restrict the exploration behavior, faster discovery can increase the rescue demand, and effect”
Exact source · revision 3Source owner not reported
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- arXiv Robotics — research abstractsSignalPA-SaR: Perception-Aware Learning, Control, and Coordination for Multi-Robot Search and Rescue
This research introduces PA-SaR, a framework integrating local control, learning-based exploration, supervisory task allocation, and adaptive victim guidance for autonomous search and rescue. Simulation studies reveal trade-offs between collision avoidance and search completion, show that increased exploration does not always lead to more rescues, and demonstrate that adaptive guidance improves rescue outcomes relative to continuous leading without improving victim trust or reducing mortality.
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