RFID-Based Exploration for Large Robot Teams

Ziparo, V.; Kleiner, Alexander; Nebel, Bernhard; Nardi, Daniele

doi:10.1109/robot.2007.364189

Cited by 55 publications

(28 citation statements)

References 11 publications

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“…Zipparo et al presented [19] a nontraditional technique in which the goal is to reduce the size of the search area by using Radio Frequency Identification (RFID) tags as coordination points. Robots, in this technique, deploy tags in the environment to form a network of reachable locations.…”

Section: Related Work On Exploration Tech-niquesmentioning

confidence: 99%

Multi-Robot Cooperation for Efficient Exploration

Khawaldah

Nüchter

2014

Automatika

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Original scientific paperThis paper addresses the problem of exploration of an unknown environment by developing effective exploration strategies for a team of mobile robots equipped with continuously rotating 3D scanners. The main aim of the new strategies is to reduce the exploration time of unknown environment. Unlike most of other published works, to save time, the laser scanners rotate and scan the environment while robots are in motion. Furthermore, the new strategies are able to explore large outdoor environments as a considerable reduction of the required computations, especially those required for path planning, have been achieved. Moreover, another new exploration strategy has been developed so that robots continuously replan the order to visit the remaining unexplored areas according to the new data (i.e. updated map) collected by the robot in question or by the other team members. This new extension led to further enhancements over the above mentioned ones, but with slightly higher computational costs. Finally, to assess our new exploration strategies with different levels of environment complexity, new set of experiments were conducted in environments where obstacles are distributed according to the Hilbert curve. The results of these experiments show the effectiveness of the proposed technique to effectively distribute the robots over the environment. More importantly, we show how the optimal number of robots is related to the environment complexity. Key words: Multiple robots, Rotating scanner, Robotic mappingKoordinacija više robota za učinkovite pretraživanje prostora. Ovajčlanak istražuje problem pretraživanja nepoznatog prostora razvijanjem učinkovite strategije za tim mobilnih robota s rotirajućim 3D laserskim senzorom. Glavni cilj ove nove strategije je smanjenje vremena pretraživanja nepoznatog prostora. Za razliku od većine objavljenih radova, u ovomečlanku, radi smanjenja vremena, laserski senzori rotiraju i snimaju prostor dok su roboti još u pokretu. Predložene strategije, pošto se njima znatno smanjuje računska složenost, pogotovo za planiranje gibanja, omogućuju pretraživanje i vanjskih prostora prostora velikih dimenzija. Nadalje, razvijena je još jedna strategija pretraživanja koja omogućuje robotima da kontinuirano replaniraju poredak kojimće posjetiti ostatak neistraženog prostora, prema novim podacima (ažuriranoj karti) prikupljenim od njih samih ili drugihčlanova tima. Ovo novo proširenje nadalje unaprjeîuje performanse algoritma, ali uz nešto veću računsku složenost. Kako bi se u konačnici testirale nove strategije pretraživanja na prostorima različite složenosti, provedeni su eksperimenti s preprekama rasporeîenim po Hilbertovoj krivulji. Rezultati eksperimenata pokazuju učinkovitost predložene metode u prostornom rasporeîivanju robota. Od posebne je važnosti istaknuti da se učlanku takoîer istražuje odnos izmeîu broja robota i kompleksnosti prostora.Ključne riječi: tim robota, rotirajući laserski senzor, robotsko mapiranje prostora

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Section: Related Work On Exploration Tech-niquesmentioning

confidence: 99%

Multi-Robot Cooperation for Efficient Exploration

Khawaldah

Nüchter

2014

Automatika

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“…Mamei and Zambonelli [17] use RFID tags distributed in the environments to allow humans and robots to mark objects and places, and to leave trails that lead to them. Ziparo et al [18] propose an approach in which robots deploy RFID tags during exploration and later use them for localization. These works share the stigmergetic medium considered here, but they address problems different from shortest path navigation.…”

Section: Related Workmentioning

confidence: 99%

Navigating by stigmergy: A realization on an RFID floor for minimalistic robots

Johansson

Saffiotti

2009

2009 IEEE International Conference on Robotics and Automation

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Abstract-Stigmergy is a mechanism that allows the coordination of actions within the same agent or across different agents by means of traces left in the environment. We propose a stigmergetic approach to robot navigation in which a robot sets values in a hexagonal grid of RFID tags buried under the floor. This approach only requires minimal resources on the robot. The RFID floor will eventually contain a distance map that can guide the robot to a given goal (or set of goals) without the use of any localization system. The same map can be used or improved by other robots or by the same robot at later times. We define algorithms for building the RFID-floor map and for navigating on this map, we prove the convergence of the map building algorithm, and we show an empirical validation of our results using a small robot in a domestic environment.

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“…The experiments presented in the following assume that the robot is not equipped with a laser range finder, but has the ability to deploy in the environment features (i.e., RFIDs) which can be used as landmarks. The set up we use is similar to [39] which has been successfully applied [2] to Urban Search and Rescue (USAR) domains.…”

Section: Slam Using Rfid-like Devicesmentioning

confidence: 99%

Context-based design of robotic systems

Calisi

Iocchi

Nardi

et al. 2008

Robotics and Autonomous Systems

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The need for improving the robustness, as well as the ability to adapt to different operational conditions, is a key requirement for a wider deployment of robots in many application domains. In this paper, we present an approach to the design of robotic systems, that is based on the explicit representation of knowledge about context. The goal of the approach is to improve the system performance, by dynamically tailoring the functionalities of the robot to the specific features of the situation at hand. While the idea of using contextual knowledge is not new, the proposed approach generalizes previous work and its advantages are discussed through a case study including several experiments. In particular, we identify many attempts to use contextual knowledge in several basic functionalities of a mobile robot such as: behaviors, navigation, exploration, localization, mapping and perception. We then show how re-designing our mobile platform with a common representation of contextual knowledge, leads to interesting improvements in many of the above mentioned components, thus achieving greater flexibility and robustness in the face of different situations. Moreover, a clear separation of contextual knowledge leads to a design methodology, which supports the design of small specialized system components instead of complex self-contained subsystems.

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RFID-Based Exploration for Large Robot Teams

Cited by 55 publications

References 11 publications

Multi-Robot Cooperation for Efficient Exploration

Multi-Robot Cooperation for Efficient Exploration

Navigating by stigmergy: A realization on an RFID floor for minimalistic robots

Context-based design of robotic systems

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