Coordination for Multi-robot Exploration Using Topological Maps

Pereira, Tiago; Moreira, António Paulo; Veloso, Manuela

doi:10.1007/978-3-319-10380-8_49

Cited by 8 publications

(6 citation statements)

References 13 publications

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“…Similar to the technique proposed by Pereira et al to cover the unknown environment [ 33 ], our exploration method adopts the individual decision rules for the robots, and shares the same environment map via the online communication to minimize the coverage overlap. The frontier-based exploration algorithm is used with the emphasis on the multi-robot coordination and the strategy for new position selection.…”

Section: Complete Coverage and Path Planningmentioning

confidence: 99%

“…Finally, our multi-robot exploration method is compared with the technique proposed by Pereira et al [ 33 ]. The algorithm adopts a leading edge based method and combines with the coordination of multiple robots using topological maps for full coverage.…”

Section: Implementation and Experimentsmentioning

confidence: 99%

“… The complete coverage results of the multi-robot exploration using our technique and the algorithm proposed by Pereira et al [ 33 ]. From the left to the right: the original maps, the coverage results using our technique, the coverage results using Pereira’s algorithm.…”

Section: Figurementioning

confidence: 99%

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Collaborative Complete Coverage and Path Planning for Multi-Robot Exploration

Lin

Huang

2021

Sensors

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In mobile robotics research, the exploration of unknown environments has always been an important topic due to its practical uses in consumer and military applications. One specific interest of recent investigation is the field of complete coverage and path planning (CCPP) techniques for mobile robot navigation. In this paper, we present a collaborative CCPP algorithms for single robot and multi-robot systems. The incremental coverage from the robot movement is maximized by evaluating a new cost function. A goal selection function is then designed to facilitate the collaborative exploration for a multi-robot system. By considering the local gains from the individual robots as well as the global gain by the goal selection, the proposed method is able to optimize the overall coverage efficiency. In the experiments, our CCPP algorithms are carried out on various unknown and complex environment maps. The simulation results and performance evaluation demonstrate the effectiveness of the proposed collaborative CCPP technique.

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Section: Complete Coverage and Path Planningmentioning

confidence: 99%

Section: Implementation and Experimentsmentioning

confidence: 99%

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Collaborative Complete Coverage and Path Planning for Multi-Robot Exploration

Lin

Huang

2021

Sensors

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“…In [17], the authors address the problem of decentralized exploration and mapping of an unknown environment by a multiple robot team. The exploration methodology relies on individual decision rules and communication of topological maps to achieve efficient and fast mapping, minimizing overlap of explored regions.…”

Section: Mathematical Problems In Engineeringmentioning

confidence: 99%

Distributed Multirobot Exploration Based on Scene Partitioning and Frontier Selection

Lopez-Perez

Hernandez-Belmonte

Ramirez-Paredes

et al. 2018

Mathematical Problems in Engineering

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In mobile robotics, the exploration task consists of navigating through an unknown environment and building a representation of it. The mobile robot community has developed many approaches to solve this problem. These methods are mainly based on two key ideas. The first one is the selection of promising regions to explore and the second is the minimization of a cost function involving the distance traveled by the robots, the time it takes for them to finish the exploration, and others. An option to solve the exploration problem is the use of multiple robots to reduce the time needed for the task and to add fault tolerance to the system. We propose a new method to explore unknown areas, by using a scene partitioning scheme and assigning weights to the frontiers between explored and unknown areas. Energy consumption is always a concern during the exploration, for this reason our method is a distributed algorithm, which helps to reduce the number of communications between robots. By using this approach, we also effectively reduce the time needed to explore unknown regions and the distance traveled by each robot. We performed comparisons of our approach with state-of-the-art methods, obtaining a visible advantage over other works.

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“…On the other side, using a team consisting of a few robots instead of using only one robot to accomplish these tasks, is a new approach that has attracted many researchers in recent years. [9][10][11][12][13] Compared to single-robot systems, multi-robot systems are more reliable, robust, scalable and flexible. They are more reliable because any failure in one agent would not disable the whole system.…”

Section: Introductionmentioning

confidence: 99%

A distributed control algorithm for area search by a multi-robot team

Baranzadeh¹,

Savkin²

2016

Robotica

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SUMMARYIn this paper, we present a novel algorithm for exploring an unknown environment using a team of mobile robots. The suggested algorithm is a grid-based search method that utilizes a triangular pattern which covers an area so that exploring the whole area is guaranteed. The proposed algorithm consists of two stages. In the first stage, all the members of the team make a common triangular grid of which they are located on the vertices. In the second stage, they start exploring the area by moving between vertices of the grid. Furthermore, it is assumed that the communication range of the robots is limited, and the algorithm is based on the information of the nearest neighbours of the robots. Moreover, we apply a new mapping method employed by robots during the search operation. A mathematically rigorous proof of convergence with probability 1 of the algorithm is given. Moreover, our algorithm is implemented and simulated using a simulator of the real robots and environment and also tested via experiments with Adept Pioneer 3DX wheeled mobile robots.

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Coordination for Multi-robot Exploration Using Topological Maps

Cited by 8 publications

References 13 publications

Collaborative Complete Coverage and Path Planning for Multi-Robot Exploration

Collaborative Complete Coverage and Path Planning for Multi-Robot Exploration

Distributed Multirobot Exploration Based on Scene Partitioning and Frontier Selection

A distributed control algorithm for area search by a multi-robot team

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