Collaborative robots for indoor environment exploration

Inferring Robot Morphology from Observation of Unscripted Movement

“…This will enable computation of useful plans to achieve a cooperative goal. Applications of cooperative robotic agents include, but are not limited to, scenarios such as exploring unknown environments [3], [4], [5], safeguarding secure facilities [6], and construction tasks [7]. Such planning requires ample knowledge about the scene and robot's potential partners in completing the task [8], and even requires on-line determination of how proactive or reactive a robot should be in performing a cooperative task [9].…”

Simultaneous Localization and Mapping Using Rao-Blackwellized Particle Filters in Multi Robot Systems

“…In smaller scenarios, however, one can envision to apply the same approach with other distance sensors, as ultrasound sensors [27] or cameras [28], by simply choosing a suitable sensor model. Moreover the team can be heterogeneous: in such a case the communication between agents should include further information on robot sensor models, which have to be applied when performing estimation over virtual data (see Section 3.7).…”

“…The formation of robots can be seen as a mobile sensor network, in which a communication link appears between two nodes, only during rendezvous events. In such a way fault tolerance problems in communication, as investigated in [27], are relaxed and also in case the robots fail to detect a rendezvous case, this does not influence the estimation process. These considerations remark the advantages over the state of the art approaches.…”

On the Problem of Representing and Characterizing the Dynamics of Multi-Robot Systems

“…Therefore, maps capture the dynamics of the system from the robot's perspective. For a detailed description of this work see (Méndez-Polanco, 2007;Méndez-Polanco & Muñoz-Meléndez, 2008).…”