To coordinate a team of robots for exploration is a challenging problem, particularly in unstructured areas, as for example post-disaster scenarios where direct communication is severely constrained. Furthermore, conventional methods of SLAM, e.g. those performing data association based on visual features, are doomed to fail due to bad visibility caused by smoke and fire. We use indirect communication (based on RFIDs), to share knowledge and use a gradient-like local search to direct robots towards interesting areas. To share a common frame of reference among robots we use a feature based SLAM approach (where features are RFIDs). The approach has been evaluated on a 3D simulation based on USARSim.

Cooperative Exploration for USAR Robots with Indirect Communication / Ziparo, VITTORIO AMOS; Alexander, Kleiner; Marchetti, Luca; Alessandro, Farinelli; Nardi, Daniele. - 6:PART 1(2007), pp. 554-559. (Intervento presentato al convegno 6th IFAC Symposium on Intelligent Autonomous Vehicles, IAV2007 tenutosi a Toulouse; France nel September 3-5 2007) [10.3182/20070903-3-FR-2921.00094].

Cooperative Exploration for USAR Robots with Indirect Communication

ZIPARO, VITTORIO AMOS;MARCHETTI, Luca;NARDI, Daniele
2007

Abstract

To coordinate a team of robots for exploration is a challenging problem, particularly in unstructured areas, as for example post-disaster scenarios where direct communication is severely constrained. Furthermore, conventional methods of SLAM, e.g. those performing data association based on visual features, are doomed to fail due to bad visibility caused by smoke and fire. We use indirect communication (based on RFIDs), to share knowledge and use a gradient-like local search to direct robots towards interesting areas. To share a common frame of reference among robots we use a feature based SLAM approach (where features are RFIDs). The approach has been evaluated on a 3D simulation based on USARSim.
2007
6th IFAC Symposium on Intelligent Autonomous Vehicles, IAV2007
3D simulations; Conventional methods; Cooperative exploration
04 Pubblicazione in atti di convegno::04b Atto di convegno in volume
Cooperative Exploration for USAR Robots with Indirect Communication / Ziparo, VITTORIO AMOS; Alexander, Kleiner; Marchetti, Luca; Alessandro, Farinelli; Nardi, Daniele. - 6:PART 1(2007), pp. 554-559. (Intervento presentato al convegno 6th IFAC Symposium on Intelligent Autonomous Vehicles, IAV2007 tenutosi a Toulouse; France nel September 3-5 2007) [10.3182/20070903-3-FR-2921.00094].
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