Collaborative multi-robot exploration

Abstract

In this paper we consider the problem of exploring an unknown environment by a team of robots. As in single-robot exploration the goal is to minimize the overall exploration time. The key problem to be solved therefore is to choose appropriate target points for the individual robots so that they simultaneously explore different regions of their environment. We present a probabilistic approach for the coordination of multiple robots which, in contrast to previous approaches, simultaneously takes into account the costs of reaching a target point and the utility of target points. The utility of target points is given by the size of the unexplored area that a robot can cover with its sensors upon reaching a target position. Whenever a target point is assigned to a specific robot, the utility of the unexplored area visible from this target position is reduced for the other robots. This way, a team of multiple robots assigns different target points to the individual robots. The technique has been implemented and tested extensively in real-world experiments and simulation runs. The results given in this paper demonstrate that our coordination technique significantly reduces the exploration time compared to previous approaches.

Leveraging area bounds information for autonomous decentralized multi-robot exploration

“…Burgard et al [1] introduced a centralized approach to multirobot exploration that assigns target location goals to team members by locating a robot and frontier point (a point on the boundary of explored and unexplored space) that balances exploration utility and travel cost. Rogers et al [3] develop a centralized scheme to coordinate frontier-based exploration by large robot teams and investigate which robot coordinate strategies are effective.…”

“…While primarily used to describe single robot motion (e.g., Arkin [6]), the potential field approach was also used to specify manipulator configurations (e.g., robot manipulators, Khatib [7]; dexterous hands, Lyons [8]). Multirobot exploration offers challenges beyond single robot exploration [1]. More recently potential field approaches have been extended to handle multiple robot exploration (e.g., Arkin and Diaz [9], Lau [10]), formation (e.g., Schneider [11]) and map improvement (e.g., Julia et al [12]).…”

“…Such missions are time-critical and detailed environment information is not needed, rather a fast, effective scan with the on-board sensors is much more crucial for the mission. It is reasonable to propose that deploying multiple robots will allow the building to be searched more quickly [1]. If multiple robots are being used to increase exploration efficiency, and all areas of the building are considered equally important, then prioritizing dispersion and reducing overlap in scanning are potential strategies to improve performance.…”

Tactics for Evacuating from an Affected Area

“…Berman [5] estimate problem in unknown environment by the performance ratio. Burgard [6] consider the evacuate ratio with the cost of strategy as time spent instead of path lengths.…”

An Evolutionary Approach to Capacitated Resource Distribution by a Multiple-Agent Team

“…A single robot is no longer the best solution for many of these new application domains; instead, teams of robots are required to coordinate intelligently for successful task execution. For example, a single robot is not an efficient solution to automated construction [1], urban search and rescue, assembly-line automation [2], mapping and investigation of unknown and hazardous environments [3], and many other similar tasks.…”