Coordination for Multi-robot Exploration Using Topological Maps

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2015

Autores

Pereira, T (Autor) Outra; António Paulo Moreira (Autor) FEUP; Veloso, M (Autor) Outra

Ata de Conferência Internacional

Título: Lecture Notes in Electrical Engineering

Páginas: 515-524

11th Portuguese Conference on Automatic Control, CONTROLO 2014

Porto, 21 July 2014 through 23 July 2014

Indexação

ISI Web of Knowledge - 5 Citações

Scopus - 6 Citações

Outras Informações

ID Authenticus: P-009-TPK

DOI: 10.1007/978-3-319-10380-8_49

Abstract (EN): This paper addresses the problem of decentralized exploration and mapping of unknown environment by a multiple robot team. The exploration methodology relies on individual decision rules and communication of topological maps to achieve efficient and fast mapping, minimizing overlap of explored space. This distributed solution allows scalability of the proposed methods. Each robot broadcasts a graph representing the topological map, with information of exploration status of each region. Therefore, this kind of information can be transmitted to robots that are not in the communication range, through other robots in a multi-hop network. This work has been tested in simulation, and the results demonstrate the performance improvements and robustness that arise from our multirobot approach to exploration.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 10