An Approach to Fast Multi-Robot Exploration in Buildings with Inaccessible Spaces

McNeill, Matthew; Lyons, Damian M.

doi:10.1109/robio49542.2019.8961681

Cited by 2 publications

(1 citation statement)

References 19 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In the literature, the problem of coordination of robots is addressed by various methods, including methods based on line of sight (Arkin and Diaz, 2002), frontiers (McNeill and Lyons, 2019) and rendezvous (Wellman et al, 2011). The aim of coordination is to improve the robots' performance.…”

Section: Literature Discussion and Frontier-based Explorationmentioning

confidence: 99%

A Soft Obstacle Search Strategy for Various Solitary Robots in an Unknown Environment

Masakuna

Kafunda

2023

Preprint

View full text Add to dashboard Cite

The problem of coordination without a priori informationabout the environment is important in robotics. Applications vary fromformation control to search and rescue. This paper considers the problemof search by a group of solitary robots: self-interested robots without apriori knowledge about each other, and with restricted communicationcapacity. When the capacity of robots to communicate is limited, theymay obliviously search in overlapping regions (i.e. be subject to inter-ference). Interference hinders robot progress, and strategies have beenproposed in the literature to mitigate interference (Wellman et al., 2011;Hourani et al., 2013). Interaction of solitary robots has attracted muchinterest in robotics, but the problem of mitigating interference when timefor search is limited remains an important area of research. We proposea coordination strategy based on the method of cellular decomposition(Choset, 2001) where we employ the concept of soft obstacles: a robotconsiders cells assigned to other robots as obstacles. The performance ofthe proposed strategy is demonstrated by means of simulation experi-ments in both actual and simulated environments. Simulations indicatethe utility of the strategy in situations where a known upper bound onthe search time precludes search of the entire environment.

show abstract

Section: Literature Discussion and Frontier-based Explorationmentioning

confidence: 99%