Coordination for Multi-robot Exploration Using Topological Maps

• Type: Article in International Conference Proceedings Book
• Date: 2015

Authors

Pereira, T (Author) Other; António Paulo Moreira (Author) FEUP; Veloso, M (Author) Other

Conference proceedings International

Title: Lecture Notes in Electrical Engineering

Pages: 515-524

11th Portuguese Conference on Automatic Control, CONTROLO 2014

Porto, 21 July 2014 through 23 July 2014

Indexing

ISI Web of Knowledge - 5 Citations

Scopus - 6 Citations

Other information

Authenticus ID: 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.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 10