We present a cooperative exploration strategy for mobile robots. The method is based on the randomized incremental generation of a collection of data structures called Sensor-based Random Mrees, each representing a roadmap of an explored area with an associated safe region. Decentralized cooperation and coordination mechanisms are introduced so as to improve the exploration efficiency and to avoid conflicts. Simulations in various environments are presented to show the performance of the proposed technique.
A Randomized strategy for cooperative robot exploration / Franchi, Antonio; Freda, Luigi; Oriolo, Giuseppe; Vendittelli, Marilena. - (2007), pp. 768-774. (Intervento presentato al convegno IEEE International Conference on Robotics and Automation tenutosi a Rome, ITALY nel APR 10-14, 2007) [10.1109/robot.2007.363079].
A Randomized strategy for cooperative robot exploration
FRANCHI, ANTONIO;FREDA, Luigi;ORIOLO, Giuseppe;VENDITTELLI, Marilena
2007
Abstract
We present a cooperative exploration strategy for mobile robots. The method is based on the randomized incremental generation of a collection of data structures called Sensor-based Random Mrees, each representing a roadmap of an explored area with an associated safe region. Decentralized cooperation and coordination mechanisms are introduced so as to improve the exploration efficiency and to avoid conflicts. Simulations in various environments are presented to show the performance of the proposed technique.| File | Dimensione | Formato | |
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