Ashish Macwan, Julio Vilela, Goldie Nejat, and Beno Benhabib
Wilderness search and rescue, multi-robot coordination, autonomousdeployment
This paper presents an eﬀective methodology for the optimal deployment of multi-robot teams for autonomous wilderness search and rescue. The proposed methodology is based on the unique concept of iso-probability curves. These curves deﬁne the probabilistic boundaries of multiple possible regions, where the target is likely to
be present at any given time. The deployment strategy determines the optimal set of iso-curves, as well as the distribution of robots on these curves. Deployment is invoked repeatedly as the search progresses.