In the current research we consider the scenario of post disaster rescue operations using multiple robots inside damaged buildings where the damage is not very extreme. The objective the of the work is to develop systems to support efficient rescue missions involving creation and exchange of environment maps enriched with information important to rescue operations, among multiple robots and rescue workers. In current days many research institutes are developing robots with widely different types and capabilities to support rescue operations. In rescue missions involving multiple robots it is essential to have sharable map information for efficient search and navigation irrespective of the differences in the structures and capabilities of the participating robots. In this paper we address the above issue by proposing a map description which combines the geographical data as well as the information about robot behaviors called ¿behavioral trace map¿. We describe the algorithm for generation of such maps and we present experimental results using rescue robots developed in our laboratory.

Our research perspective is to develop mechanisms for gathering information efficiently in disaster sites. Ideally this requires mechanisms with capabilities of flexible, on-site, adaptation of the overall shape and of the locomotion strategy to unknown and unstable environments. We have been developing three-legged modular robots which can be interconnected to cooperatively achieve multiple locomotion modes and collaboratively perform tasks that cannot be done by a single module. In this paper, we report the development of experimental modular robots and experimentations with their cooperative activities which evolve out of their various inter-connectivity options.

As an experimental platform for modular legged robots, generic limb modules are developed which are used to implement 3-limb robot units. Benefits of 3-limb modularity are discussed in the context of multi-legged robot assembly. A CPG network based locomotion gait generation approach for generic multi-leg formations is considered.

We present a type of locomotion mode, path planning of shape transition, and design and implementation of a 3-dimensional hyper-redundant snake-like robot. First we explain the multiple locomotion modes, for example ring mode, inching mode, bridge mode, and so on. We propose a new type of locomotion "twisting mode" and analyze the principle of the locomotion based on statics. Next, the motion planning using genetic algorithm for transition of locomotion modes is explained and simulation results for the GA research is shown. Finally, we explain the designed prototype system and experimental results are shown.