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

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2005

Autores

Rocha, R (Autor) Outra; Dias, J (Autor) Outra; Adriano Carvalho (Autor) FEUP

Ata de Conferência Internacional

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

Páginas: 384-389

IEEE International Conference on Robotics and Automation (ICRA)

Barcelona, SPAIN, APR 18-22, 2005

Indexação

ISI Web of Knowledge - 2 Citações

Scopus - 7 Citações

Outras Informações

ID Authenticus: 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.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6