Robocup 2019 HELLO! Welc lcome ome to Robocup 2019 Sydney | - PowerPoint PPT Presentation

Sydney/Australia Robocup 2019

HELLO! Welc lcome ome to Robocup 2019 Sydney | Australia MRL-RSL 2

Overview  Previous Works  Building Detector 3

Previous Works  Path planning  Clustering  Communication  Search  Road Detector  Human Detector 4

Path Planning and Clustering We use A* algorithms for Path planning and K-means algorithms for clustering. We implemented Hungarian algorithms for assign agents. This year we use the same algorithms for these kinds of modules. 5

Communication We use sample communication. 6

Search  Simple Search  Civilian Search  Fire Search 7

Search  Civilian Search 8

Search Search  Fire Search  Fire Search • Maximal Covering Problem  Maximal Covering Problem 9 9

Road Detector  Guidline strategy 10

Human Detector  Coordination  Calculation Rescue Time m = 1 buriedness(vi) + β RescueTime(vi) = buriedness(vi) m > 1 + β m 11

Human Detector earlyComplete(vj) PossibilityOfRsc(vj) = < 1  PossibilityOfRescue deathTime(vj )  EarlyComplete n earlyComplete(vj) = RscTime(v0) + Σ RscTime(vi) i = 1  Priority earlyComplete(vj) priority(vj) = <δ deathTime(vj) 12

Building Detector  Pre-Extinguish 13

Building Detector  Find all fire zone 14

Results Last Year Current Berlin 2 Paris 2 Istanbul 3 VC 3 15

THANKS! Any questions? You can find we at : rescuesimmrl@gmail.com 16