Search for Unknown Events in Blind Zone using Multiple Autonomous Mobile Systems with Mobile Sensing Cluster.

An approach using a mobile sensing cluster has been proposed for search tasks such as damage assessment and rescue operations in a disaster. It dynamically forms and changes the swarms composed by multiple autonomous mobile systems that search for and capture unknown events. This mobile sensing cluster assumes that each autonomous mobile systems can acquire physical information such as radio waves emitted from the event. However, in a real environment, when autonomous mobile systems in a swarm are located far from events, they may be located in a blind zone where they cannot detect physical information emitted from the event. Therefore, a mobile sensing cluster cannot work in such blind zones. In this paper, we propose a radial spread method and an algebraic spiral method as way to search for the physical information from events in the blind zone, prior to implementing the mobile sensing cluster, and show the effectiveness of the algebraic spiral method.