A Randomized Strategy for Cooperative Robot Exploration

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 trees, each representing a roadmap of an explored area with an associated safe region. Decentralized cooperation...

Full description

Saved in:
Bibliographic Details
Main Authors: Franchi, A., Freda, L., Oriolo, G., Vendittelli, M.
Format: Conference Proceeding
Language:English
Subjects:
Cost function
Data mining
Mobile robots
Multirobot systems
Robot kinematics
Robot motion
Robot sensing systems
Robotics and automation
Surveillance
Tree data structures
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary: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 trees, 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.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2007.363079