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  The sensor-based random graph method for cooperative robot exploration

Franchi, A., Freda, L., Oriolo, G., & Vendittelli, M. (2009). The sensor-based random graph method for cooperative robot exploration. IEEE/ASME Transactions on Mechatronics, 14(2), 163-175. doi:10.1109/TMECH.2009.2013617.

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-0013-C531-2 Version Permalink: http://hdl.handle.net/21.11116/0000-0002-C816-4
Genre: Journal Article

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 Creators:
Franchi, A1, Author              
Freda, L, Author
Oriolo, G, Author
Vendittelli, M, Author
Affiliations:
1External Organizations, ou_persistent22              

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 Abstract: We present a decentralized cooperative exploration strategy for a team of mobile robots equipped with range finders. A roadmap of the explored area, with the associate safe region, is built in the form of a sensor-based random graph (SRG). This is expanded by the robots by using a randomized local planner that automatically realizes a tradeoff between information gain and navigation cost. The nodes of the SRG represent view configurations that have been visited by at least one robot, and are connected by arcs that represent safe paths. These paths have been actually traveled by the robots or added to the SRG to improve its connectivity. Decentralized cooperation and coordination mechanisms are used so as to guarantee exploration efficiency and avoid conflicts. Simulations and experiments are presented to show the performance of the proposed technique.

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 Dates: 2009-04
 Publication Status: Published in print
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 Table of Contents: -
 Rev. Type: -
 Identifiers: DOI: 10.1109/TMECH.2009.2013617
BibTex Citekey: 6416
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Title: IEEE/ASME Transactions on Mechatronics
Source Genre: Journal
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Publ. Info: New York, NY : IEEE
Pages: - Volume / Issue: 14 (2) Sequence Number: - Start / End Page: 163 - 175 Identifier: ISSN: 1941-014X
CoNE: https://pure.mpg.de/cone/journals/resource/1941014X