Autonomous exploration using multiple sources of information

Moorehead, Stewart; Simmons, Reid; Whittaker, William

doi:10.1109/robot.2001.933093

Cited by 64 publications

(38 citation statements)

References 6 publications

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“…Furthermore, a necessary feature for the MRS maps is the capacity for merging maps built by individual robots to form a global representation of the space (if the map is unknown a priori). 12 2.2.1. Types of maps.…”

Section: Mappingmentioning

confidence: 99%

Mapping, localization and motion planning in mobile multi-robotic systems

Rone

Ben-Tzvi

2012

Robotica

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As researchers have pushed the limits of what can be accomplished by a single robot operating in a known or unknown environment, a greater emphasis has been placed on the utilization of mobile multi-robotic systems to accomplish various objectives. In transitioning from a robot-centric approach to a system-centric approach, considerations must be made for the computational and communicative aspects of the group as a whole, in addition to electromechanical considerations of individual robots. This paper reviews the state-of-the-art of mobile multi-robotic system research, with an emphasis on the confluence of mapping, localization and motion control of robotic system. Methods that compose these three topics are presented, including areas of overlap, such as integrated exploration and simultaneous localization and mapping. From these methods, an analysis of benefits, challenges and tradeoffs associated with multi-robotic system design and use are presented. Finally, specific applications of multi-robotic systems are also addressed in various contexts.

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Section: Mappingmentioning

confidence: 99%

Mapping, localization and motion planning in mobile multi-robotic systems

Rone

Ben-Tzvi

2012

Robotica

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“…In the former scenario, accurate prior knowledge of robot position is available and the robot decision making reduces to the choice of the exploration target which maximizes the opportunity of visiting unknown areas [15], [24]. During system setup, however, no prior information on robot position is available, since the system is assumed to work in a GPS-denied area.…”

Section: System Start-upmentioning

confidence: 99%

Cooperative robotic teams for supervision and management of large logistic spaces: Methodology and applications

Abrate

Bona

Indri

et al. 2010

2010 IEEE 15th Conference on Emerging Technologies &Amp; Factory Automation (ETFA 2010)

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Robots and automated systems can be employed in the logistic field to efficiently perform common tasks like building and updating maps of indoor and outdoor logistic spaces, locating specific goods on the map, tracing the product flow in the area, while assuring the surveillance of the environment. This paper reports and discusses the already achieved results of the on-going research project MACP4Log (Mobile Autonomous and Cooperating robotic Platforms for supervision and monitoring of large LOGistic surfaces), aimed at the study and development of a prototype of a mobile robotic platform, with on-board vision systems and sensors, integrating a flexible wireless communication solution, able to move autonomously in large logistic spaces, and to communicate with a supervisor and other similar platforms in order to achieve a coordinated action to carry out specific tasks.

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“…Many approaches have been proposed for exploring unknown environments with single robots [11,16,18,23,36,43,58,60,64,65]. Most of these approaches guide the robot to the closest unexplored area, just as our approach does when applied to a single robot system.…”

Section: Related Workmentioning

confidence: 99%

Coordinated Multi-Robot Exploration

Stachniss¹

2009

Springer Tracts in Advanced Robotics

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Abstract-In this paper, we consider the problem of exploring an unknown environment with a team of robots. As in singlerobot exploration the goal is to minimize the overall exploration time. The key problem to be solved in the context of multiple robots is to choose appropriate target points for the individual robots so that they simultaneously explore different regions of the environment. We present an approach for the coordination of multiple robots, which simultaneously takes into account the cost of reaching a target point and its utility. Whenever a target point is assigned to a specific robot, the utility of the unexplored area visible from this target position is reduced. In this way, different target locations are assigned to the individual robots. We furthermore describe how our algorithm can be extended to situations in which the communication range of the robots is limited. Our technique has been implemented and tested extensively in real-world experiments and simulation runs. The results demonstrate that our technique effectively distributes the robots over the environment and allows them to quickly accomplish their mission.

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Autonomous exploration using multiple sources of information

Cited by 64 publications

References 6 publications

Mapping, localization and motion planning in mobile multi-robotic systems

Mapping, localization and motion planning in mobile multi-robotic systems

Cooperative robotic teams for supervision and management of large logistic spaces: Methodology and applications

Coordinated Multi-Robot Exploration

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