Cooperative multi-robot systems - A study of vision-based 3-D mapping using information theory

• Type: Article in International Conference Proceedings Book
• Date: 2005

Authors

Rocha, R (Author) Other; Dias, J (Author) Other; Adriano Carvalho (Author) FEUP

Conference proceedings International

Title: 2005 IEEE International Conference on Robotics and Automation (ICRA), Vols 1-4

Pages: 384-389

IEEE International Conference on Robotics and Automation (ICRA)

Barcelona, SPAIN, APR 18-22, 2005

Indexing

ISI Web of Knowledge - 2 Citations

Scopus - 7 Citations

Other information

Authenticus ID: P-000-714

DOI: 10.1109/robot.2005.1570149

Abstract (EN): Building cooperatively 3-D maps of unknown environments is one of the application fields of multi-robot systems. This article introduces a distributed architecture, within a probabilistic framework for vision-based 3-D mapping, whereby each robot is committed to cooperate with other robots through information sharing. An entropy-based measure of information utility is defined, which a robot uses for communicating to its teammates the most useful measurements, thus preventing the robot to overwhelm communication resources with redundant information. Experiments with real robots, equipped with stereo-vision, yielded important conclusions about the way robots should cooperate on sharing information.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6