Distributed Multirobot Exploration and Mapping

Fox, Dieter; Ko, Jonathan; Konolige, Kurt; Limketkai, Benson; Schulz, Dirk; Stewart, Benjamin

doi:10.1109/jproc.2006.876927

Cited by 285 publications

(165 citation statements)

References 20 publications

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“…The cooperation, communication, and management of the robots in a multi-agent system can be done either in centralized way by using a base station as the server, or decentralized way by having a distributed behavioral based algorithm (like in [6,7]). Lacking a central station makes it difficult to distribute the tasks between the robots.…”

Section: Introductionmentioning

confidence: 99%

“…If the robots know their relative locations and share a map of the area that they have explored so far, then effective coordination can be achieved by guiding the robots into different, non-overlapping areas of the environment [6]. In other words, effective coordination can be achieved by extracting exploration frontiers from the partial maps and assigning robots to frontiers based on a global measure of performance [6,7].…”

Section: Introductionmentioning

confidence: 99%

“…In other words, effective coordination can be achieved by extracting exploration frontiers from the partial maps and assigning robots to frontiers based on a global measure of performance [6,7]. Frontier based exploration is a simple approach for decentralized multiple robot task allocation (Fig.…”

Section: Introductionmentioning

confidence: 99%

“…Most of the existing approaches to coordinate multi-robot mapping assume that all agents know their locations in a shared (partial) map of the environment [2,5,6,7]. Having a general positioning system is a constraint in unknown areas where there is no knowledge about the environment.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Multi-robot Topological Exploration Using Olfactory Cues

Marjovi

Marques

2013

Springer Tracts in Advanced Robotics

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Abstract. This paper presents a distributed multi-robot system to search for odor sources inside unknown environments. The robots cooperatively explore the whole environment and generate its topological map. The exploration method is a decentralized frontier based algorithm that is enhanced by considering odor concentration at each frontier inside its cost/gain function. The robots independently generate local topological maps and by transferring them to each other, they are able to integrate these maps and generate a whole global map. The proposed method was tested and validated in real reduced scale scenarios.

show abstract

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Multi-robot Topological Exploration Using Olfactory Cues

Marjovi

Marques

2013

Springer Tracts in Advanced Robotics

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“…Extending robotic mapping to robot teams is the fundamental step for higher team functions, such as exploration or path planning. Distributed or cooperative mapping has been studied extensively [4][5][6][7][8][9][10][11][12][13], but often requires a significant change in the system architecture or core algorithms. This paper presents a simple, but effective, approach to realize multi-robot cooperative mapping with a significantly reduced required bandwidth compared to the previously mentioned alternatives.…”

Section: Introductionmentioning

confidence: 99%

Towards Cooperative and Decentralized Mapping in the Jacobs Virtual Rescue Team

Pfingsthorn

Nevatia

Stoyanov

et al. 2009

RoboCup 2008: Robot Soccer World Cup XII

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Abstract. The task of mapping and exploring an unknown environment remains one of the fundamental problems of mobile robotics. It is a task that can intuitively benefit significantly from a multi-robot approach. In this paper, we describe the design of the multi-robot mapping system used in the Jacobs Virtual Rescue team. The team competed in the World Cup 2007 and won the second place. It is shown how the recently proposed pose graph map representation facilitates not only map merging but also allows transmitting map updates efficiently.

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A Packet Loss Tolerant Rendezvous Algorithm for Wireless Networked Robot Systems

Manfredi

Natalizio

Pascariello

et al. 2017

Asian Journal of Control

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This paper studies the coordination problem for a wireless networked robot (WNR) system. The objective is to drive the robots to keep a desired formation through local exchange of information. Nevertheless, packet losses may occur during communications among robots, thus preventing the system to reach its specific target. Specifically, the effects of an unreliable channel on the WNR performance are analyzed by considering the simulation of a corrective consensus algorithm into a network simulator. The use of a packet-loss-tolerant protocol is suggested to cope with heavy communication disruption. Network Simulator (NS-3) simulation results validate the effectiveness of the proposed approach

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Distributed Multirobot Exploration and Mapping

Cited by 285 publications

References 20 publications

Multi-robot Topological Exploration Using Olfactory Cues

Multi-robot Topological Exploration Using Olfactory Cues

Towards Cooperative and Decentralized Mapping in the Jacobs Virtual Rescue Team

A Packet Loss Tolerant Rendezvous Algorithm for Wireless Networked Robot Systems

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