A survey on multi robots area exploration techniques and algorithms

Sharma, Sujata; Tiwari, Ritu

doi:10.1109/icctict.2016.7514570

Cited by 14 publications

(3 citation statements)

References 44 publications

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“…In the first case, way points need to be created to explore and map the area, while, in the second case, the robot needs to ensure complete cover age of the known map. Extensive research has been done in the autonomous exploration of environments using single and multiagent mobile robot systems, and three general methods have been developed to generate the exploration waypoints used when planning a suitable path: random, frontier, and human directed [15].…”

Section: Exploration and Path Planningmentioning

confidence: 99%

A Robot to Monitor Nuclear Facilities: Using Autonomous Radiation-Monitoring Assistance to Reduce Risk and Cost

Bird

Griffiths

Martin

et al. 2019

IEEE Robot. Automat. Mag.

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Nuclear facilities often require continuous mo nitoring to ensure there is no contamination of radioactive materials that might lead to safety or environmental issues. The current approach to radiological monitoring is to use human operators, which is both time consuming and cost in efficient. As with many repetitive, routine tasks, there are considerable opportunities for the process to be improved using autonomous robotic systems. This article describes the design and development of an autonomous, groundbased radiologicalmonitoring robot, Continuous Autonomous RadiationMonitoring Assistance (CARMA), and how, when it was deployed in an active area at the U.K. 's Sellafield nuclear site, it detected and located a fixed a source embedded into the floor. This deployment was the first time that a fully autonomous robot had ever been deployed at Sellafield, the largest nuclear site in Europe. Expanding Efforts in an Increasingly Important FieldMonitoring nuclear facilities and rapidly identifying any spread of radiological materials is of global concern.

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Section: Exploration and Path Planningmentioning

confidence: 99%

A Robot to Monitor Nuclear Facilities: Using Autonomous Radiation-Monitoring Assistance to Reduce Risk and Cost

Bird

Griffiths

Martin

et al. 2019

IEEE Robot. Automat. Mag.

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“…Area exploration methods can be classified as random and frontier‐based methods . In a random area exploration method, mobile nodes explore given area by employing random path planning models, ie, either random direction, random waypoint, or random walk.…”

Section: Literature Surveymentioning

confidence: 99%

Hybrid area exploration–based mobility‐assisted localization with sectored antenna in wireless sensor networks

Nagaraju

Sreejith

Gudino

et al. 2019

Int J Communication

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In common practice, sensor nodes are randomly deployed in wireless sensor network (WSN); hence, location information of sensor node is crucial in WSN applications. Localization of sensor nodes performed using a fast area exploration mechanism facilitates precise location-based sensing and communication. In the proposed localization scheme, the mobile anchor (MA) nodes integrated with localization and directional antenna modules are employed to assist in localizing the static nodes. The use of directional antennas evades trilateration or multilateration techniques for localizing static nodes thereby resulting in lower communication and computational overhead. To facilitate faster area coverage, in this paper, we propose a hybrid of max-gain and cost-utility-based frontier (HMF) area exploration method for MA node's mobility. The simulations for the proposed HMF area exploration-based localization scheme are carried out in the Cooja simulator. The paper also proposes additional enhancements to the Cooja simulator to provide directional and sectored antenna support. This additional support allows the user with the flexibility to feed radiation pattern of any antenna obtained either from simulated data of the antenna design simulator, ie, high frequency structure simulator (HFSS) or measured data of the vector network analyzer (VNA). The simulation results show that the proposed localization scheme exhibits minimal delay, energy consumption, and communication overhead compared with other area exploration-based localization schemes. The proof of concept for the proposed localization scheme is implemented using Berkeley motes and customized MA nodes mounted with indigenously designed radio frequency (RF) switch feed network and sectored antenna.KEYWORDS area exploration, directional antennas, localization, mobile anchor node, wireless sensor networks INTRODUCTIONThe wireless sensor network (WSN) is a collection of sensor nodes that perform different functionalities such as sensing, processing, and transmitting the data to the base station via multiple hops. WSN faces several challenges such as deployment, localization, and connectivity. The deployment strategy in WSN is classified as structured deployment and Int J Commun Syst. 2020;33:e4220.wileyonlinelibrary.com/journal/dac

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“…approaches [3], and integrated path planning [4]. Objectivebased approaches include techniques for evading pursuers [5] and managing building evacuation routes [6].…”

Section: Introductionmentioning

confidence: 99%

Experimental Implementation and Verification of Scalar Field Ridge, Trench, and Saddle Point Maneuvers Using Multirobot Adaptive Navigation

2019

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Adaptive navigation of scalar fields is a compelling capability in which mobile robotic systems make real-time navigation decisions based on sensed measurements of the environment. This capability can enable efficient identification and location of specific features of interest within the field of interest, potentially saving time and energy while also being responsive to changing conditions. Applications can include finding the sources and impact zones of a pollutant, establishing hazard perimeters, finding safe zones, and safe paths of travel. This paper presents new work that experimentally verifies several adaptive navigation control policies for moving to/along critical scalar field features with a group of mobile robots. Specifically, we demonstrate the use of a five robot cluster of sensor-equipped mobile robots to descend ridges within a scalar field, to ascend trenches, and to move to and hold a position at saddle points. This is done through the use of differential measurements across the cluster's formation baselines and control laws that have been previously demonstrated in simulation. This paper also incorporates a new state machine within the adaptive navigation control architecture in order to monitor the performance of the individual control primitives and to respond to conditions such as losing track of the feature of interest. Finally, this paper is the first in which we have experimentally demonstrated control of a five robot group of robots using our cluster space control methodology. The experiments were conducted using a novel indoor multi-robot testbed with the ability to establish customizable scalar fields printed in greyscale on large sheets that are actively sensed by the robots to enable controlled experimental evaluation. Four different fields are used in this study in order to demonstrate the new capabilities of interest.

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A survey on multi robots area exploration techniques and algorithms

Cited by 14 publications

References 44 publications

A Robot to Monitor Nuclear Facilities: Using Autonomous Radiation-Monitoring Assistance to Reduce Risk and Cost

A Robot to Monitor Nuclear Facilities: Using Autonomous Radiation-Monitoring Assistance to Reduce Risk and Cost

Hybrid area exploration–based mobility‐assisted localization with sectored antenna in wireless sensor networks

Experimental Implementation and Verification of Scalar Field Ridge, Trench, and Saddle Point Maneuvers Using Multirobot Adaptive Navigation

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