Integrating predicate reasoning and reactive behaviors for coordination of multi-robot systems

Dai, Xuefeng; Jiang, Laihao; Li, Dahui

doi:10.1007/s10586-017-1676-8

Cited by 4 publications

(4 citation statements)

References 26 publications

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“…Other works decomposed the exploration process into several behavior patterns and applied some rules for behavior selection in different situations [31,32] . For example, Nguyen et al [31] used fuzzy logic to make online decisions on which pre-defined behavior pattern should be taken. Besides, Tran et al [33] designed a dynamic frontier-leg algorithm for exploration in changing environments.…”

Section: Cooperative Exploration In Unknown Environmentsmentioning

confidence: 99%

Modeling and Simulation of Cooperative Exploration Strategies in Unknown Environments

Peng,

Hu,

2023

Complex Syst. Model. Simul.

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Cooperative spatial exploration in initially unknown surroundings is a common embodied task in various applications and requires satisfactory coordination among the agents. Unlike many other research questions, there is a lack of simulation platforms for the cooperative exploration problem to perform and statistically evaluate different methods before they are deployed in practical scenarios. To this end, this paper designs a simulation framework to run different models, which features efficient event scheduling and data sharing. On top of such a framework, we propose and implement two different cooperative exploration strategies, i.e., the synchronous and asynchronous ones. While the coordination in the former approach is conducted after gathering the perceptive information from all agents in each round, the latter enables an ad-hoc coordination. Accordingly, they exploit different principles for assigning target points for the agents. Extensive experiments on different types of environments and settings not only validate the scheduling efficiency of our simulation engine, but also demonstrate the respective advantages of the two strategies on different metrics.

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Section: Cooperative Exploration In Unknown Environmentsmentioning

confidence: 99%

Modeling and Simulation of Cooperative Exploration Strategies in Unknown Environments

Peng,

Hu,

2023

Complex Syst. Model. Simul.

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“…For convenience of comprehension, some results related to predicate logic reasoning-based coordination of multi-robot systems [12] are reviewed in brief and some results are further addressed in the following.…”

Section: Preliminarymentioning

confidence: 99%

“…The proposed error correction strategy was used in multi-robot systems coordinated by predicate logic-based reasoning [12] for unknown environment exploration. Since the size of the individual multi-robot systems is a variable, and exploration times for different system sizes are different too, it is meaningless to compare the total accumulative errors.…”

Section: Experiments Settingsmentioning

confidence: 99%

See 1 more Smart Citation

A rendezvous approach for correcting accumulative errors of multiple robots

Dai

Yan

Zhao

et al. 2018

J Wireless Com Network

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Wireless communication with no range and bandwidth limitations is desired for coordination and information sharing among multiple robots. However, the perfect communication is not available for a few of reasons. This paper proposed a simple yet effective scheme for correcting odometer errors existed in each robot of a multi-robot system. A contribution is that additional communication bandwidth is needed only if a rendezvous for two robots happened. Implementation of the error correction scheme is addressed in detail. Moreover, rendezvous is formulated by a set of predicate logic reasoning implications for each robot at upper level of soft architecture. The proposed approach was validated by computer simulations.

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A multi-robot cooperative exploration algorithm considering working efficiency and working load

Zhao

Cheng

et al. 2022

Applied Soft Computing

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Integrating predicate reasoning and reactive behaviors for coordination of multi-robot systems

Cited by 4 publications

References 26 publications

Modeling and Simulation of Cooperative Exploration Strategies in Unknown Environments

Modeling and Simulation of Cooperative Exploration Strategies in Unknown Environments

A rendezvous approach for correcting accumulative errors of multiple robots

A multi-robot cooperative exploration algorithm considering working efficiency and working load

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