Coordination of Cooperative Search and Rescue Robots for Disaster Relief

This paper describes the use of modular robots as the next generation search and rescue robots for humanitarian logistics and developed an immunity-based control framework called General Suppression Control Framework (GSCF) for controlling these robots. The application of GSCF on heterogeneous-distributed robotics systems is studied where the behaviors of the search and rescue agents are mirror images of the immunological cell behaviors when the immune system is under attack. While the goal of these agents are to perform rescue tasks, the motivation behind the study was to show GSCF can work equally well on heterogeneous-distributed systems.