MASF: A novel priority based multi-agent framework for search and rescue

In this paper, a novel priority-based framework for semi-autonomous multi agent-based search and rescue mechanism is proposed. The framework proposes a novel multi-layered architecture consisting of multi-agents capable of target detection, role allocation, and connectivity based on access to resources. Four different operations have been proposed namely mapping, searching, coordination and information fusion. Three different roles for the agents have been proposed namely mapper, searcher, and coordinator where mapper agent contributes in developing local maps, searcher agent explores the local map for target detection and coordinator agent is responsible for cluster coordination and communication among inter-cluster, intra-cluster and information fusion module. A novel concept of cell priority index (CPI) has been proposed to determine the level of damages and zone prioritization for a rescue operation. Two different novel indices namely role suitability index and role weighting index have been proposed for efficient allocation of roles among agents. The ad-hoc network model of the proposed system is evaluated for performance metrics under different mobility mechanisms in different propagation environments to suggest possible mobility approaches to be adopted for effective search and rescue mechanisms.