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The sensor-based random graph method for cooperative robot exploration (2009)
| Venue: | IEEE/ASME Trans. on Mechatronics |
| Citations: | 17 - 8 self |
BibTeX
@ARTICLE{Franchi09thesensor-based,
author = {Antonio Franchi and Luigi Freda and Marilena Vendittelli},
title = {The sensor-based random graph method for cooperative robot exploration},
journal = {IEEE/ASME Trans. on Mechatronics},
year = {2009},
pages = {163--175}
}
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Abstract
Abstract—We present a decentralized cooperative exploration strategy for a team of mobile robots equipped with range finders. A roadmap of the explored area, with the associate safe region, is built in the form of a Sensor-based Random Graph (SRG). This is expanded by the robots by using a randomized local planner which automatically realizes a trade-off between information gain and navigation cost. The nodes of the SRG represent view configurations that have been visited by at least one robot, and are connected by arcs that represent safe paths. These paths have been actually traveled by the robots or added to the SRG to improve its connectivity. Decentralized cooperation and coordination mechanisms are used so as to guarantee exploration efficiency and avoid conflicts. Simulations and experiments are presented to show the performance of the proposed technique. Index Terms—Cooperative exploration, multi-robot systems, decentralized algorithms I.
Keyphrases
sensor-based random graph method cooperative robot exploration coordination mechanism navigation cost srg represent view configuration sensor-based random graph associate safe region multi-robot system mobile robot exploration efficiency index term cooperative exploration decentralized cooperative exploration strategy randomized local planner safe path avoid conflict explored area range finder information gain
