Decentralized cooperative exploration: implementation and experiments

Franchi, A; Freda , L; Oriolo, G; Vendittelli, M

doi:10.3233/978-1-58603-887-8-348

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Decentralized cooperative exploration: implementation and experiments

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引用

Franchi, A., Freda, L., Oriolo, G., & Vendittelli, M. (2008). Decentralized cooperative exploration: implementation and experiments. In W., Burgard, R., Dillmann, C., Plagermann, & N., Vahrenkamp (Eds.), Intelligent Autonomous Systems 10 (pp. 348-355). Amsterdam, Netherlands: IOS Press.

引用: https://hdl.handle.net/11858/00-001M-0000-0013-C83B-0

要旨

In this paper we present implementation and experiments of a decentralized
cooperative exploration strategy developed by our research group. The exploration
strategy is based on the construction of a roadmap of the explored area,
with the associate safe region. No task decomposition/allocation is performed. The
roadmap is incrementally built through a simple and efficient decentralized cooperation
mechanism: each robot biases its exploration towards its local frontier, i.e.,
local areas which appear to be unexplored by the whole robot team on the basis of
the exchanged information. A detailed description of the software architecture used
to implement the strategy is given. Experiments with a team of Khepera III robots
are presented to show the performance of the proposed technique.