A NOVEL STRATEGY FOR EXPLORATION WITH MULTIPLE ROBOTS

Jonathan Rogge, Dirk Aeyels

Abstract

The present paper develops a novel strategy for the exploration of an unknown environment with a multi-robot system. Contrary to most exploration problems, the topographical properties of the space need not be mapped. The algorithm we propose is inspired by methods used for complete coverage of an area, where all free space has to be physically covered by all robots. In the present paper it is required that the entire free space is covered by the sensors of the robots, with a certainty of 100%. This weaker requirement enables us to scan more space in less time, compared to complete coverage algorithms. Moreover the shape of the robot formation adjusts itself to situations where obstacles, narrow spaces, etc. have to be passed. Communication between the robots is restricted to line-of-sight and to a maximum interdistance between robots. A direct application of the algorithm is mine field clearance.

References

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Paper Citation


in Harvard Style

Rogge J. and Aeyels D. (2007). A NOVEL STRATEGY FOR EXPLORATION WITH MULTIPLE ROBOTS . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-83-2, pages 76-83. DOI: 10.5220/0001645500760083


in Bibtex Style

@conference{icinco07,
author={Jonathan Rogge and Dirk Aeyels},
title={A NOVEL STRATEGY FOR EXPLORATION WITH MULTIPLE ROBOTS},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2007},
pages={76-83},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001645500760083},
isbn={978-972-8865-83-2},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - A NOVEL STRATEGY FOR EXPLORATION WITH MULTIPLE ROBOTS
SN - 978-972-8865-83-2
AU - Rogge J.
AU - Aeyels D.
PY - 2007
SP - 76
EP - 83
DO - 10.5220/0001645500760083