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Authors: Bart Wyns ; Jens Boeykens and Luc Boullart

Affiliation: Ghent University, Belgium

Keyword(s): Map exploration, Formation strategies, Mobile robots, Concave obstacles.

Related Ontology Subjects/Areas/Topics: Agents ; Artificial Intelligence ; Artificial Intelligence and Decision Support Systems ; Autonomous Systems ; Bioinformatics ; Biomedical Engineering ; Cooperation and Coordination ; Distributed and Mobile Software Systems ; Enterprise Information Systems ; Information Systems Analysis and Specification ; Knowledge Engineering and Ontology Development ; Knowledge-Based Systems ; Methodologies and Technologies ; Multi-Agent Systems ; Operational Research ; Simulation ; Software Engineering ; Symbolic Systems

Abstract: Exploration of an unknown environment is a well-studied problem for single robot systems. However, using just a single robot limits the speed in which a map can be fully explored. Using a multi-robot approach, a noticeable performance gain can be achieved. In this article a line-based formation strategy to explore a static area is introduced, without making any assumptions about the shape of the obstacles within. A software simulator including this line-based formation strategy was built to evaluate performance in different environments. Results show that the robot formation can easily get around both convex and concave obstacles whilst constructing a map that is both complete and correct.

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Paper citation in several formats:
Wyns, B.; Boeykens, J. and Boullart, L. (2010). MAP EXPLORATION USING A LINE-BASED FORMATION OF MOBILE ROBOTS. In Proceedings of the 2nd International Conference on Agents and Artificial Intelligence - Volume 2: ICAART; ISBN 978-989-674-022-1; ISSN 2184-433X, SciTePress, pages 241-244. DOI: 10.5220/0002591002410244

@conference{icaart10,
author={Bart Wyns. and Jens Boeykens. and Luc Boullart.},
title={MAP EXPLORATION USING A LINE-BASED FORMATION OF MOBILE ROBOTS},
booktitle={Proceedings of the 2nd International Conference on Agents and Artificial Intelligence - Volume 2: ICAART},
year={2010},
pages={241-244},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002591002410244},
isbn={978-989-674-022-1},
issn={2184-433X},
}

TY - CONF

JO - Proceedings of the 2nd International Conference on Agents and Artificial Intelligence - Volume 2: ICAART
TI - MAP EXPLORATION USING A LINE-BASED FORMATION OF MOBILE ROBOTS
SN - 978-989-674-022-1
IS - 2184-433X
AU - Wyns, B.
AU - Boeykens, J.
AU - Boullart, L.
PY - 2010
SP - 241
EP - 244
DO - 10.5220/0002591002410244
PB - SciTePress