Coordination strategies for multi-robot exploration and mapping

Nieto-Granda, Carlos; Rogers, John G.; Christensen, Henrik I.

doi:10.1177/0278364913515309

Cited by 58 publications

(29 citation statements)

References 28 publications

(35 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Some related works initialize the positions of the team with a predefined formation at some selected zone of the scenario [14,30]. Other authors define the initial positions of the robots arbitrarily within a zone that depends on the scenario [6,15].…”

Section: Performance Comparison With the State-of-the-art Methodsmentioning

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

View full text Add to dashboard Cite

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.

show abstract

Section: Performance Comparison With the State-of-the-art Methodsmentioning

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

View full text Add to dashboard Cite

show abstract

“…Unfortunately, the proposed paradigm works indoors within a structured environment and fails to address tasks involving communication and information sharing. The coordination strategies presented by Nieto-Granda et al 22 explore various strategies used by a group of mobile robots to map and explore uncertain/unstructured environment. The approach is based on shared resources, which are distributed among the team of robots rather than one single expensive machine.…”

Section: Research Contributionsmentioning

confidence: 99%

A multi-agent framework for cloud-based management of collaborative robots

Samad

Iqbal

Malik

et al. 2018

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

This article presents a cloud-based multi-agent architecture for the intelligent management of aerial robots in a disaster response situation. In a disaster scenario, a team of highly maneuverable quadcopters is deployed to carry out surveillance and decision support in disaster-affected areas. In Pakistan, such events usually result from sudden unpredictable calamities such as earthquakes. The aim of this work is to develop a robust mechanism to autonomously manage and react to sensory inputs received in soft real time from an unstructured environment. The immediate goal is to locate the maximum number of trapped, injured people within a large area, and help first responders plan rescue activities accordingly. To evaluate the proposed framework, a number of simulations are carried out using GAMA platform to emulate a disaster environment. Subsequently, algorithms are developed to survey an affected geographical area through the use of small flight drones. The key challenges in this work are related to the combination of the domains of multi-agent technology, robotics, and cloud computing for effectively bridging the cyber world with the physical world. Therefore, the proposed work demonstrates the effective use of a limited number of drones to capture inputs from a disaster situation in the physical world, and such inputs are used for timely planning of rescue efforts. The results of fixed resource assignment are compared with the proposed reactive assignment strategy, and it clearly shows a significant improvement in terms of resource usage compared to traditional approach.

show abstract

“…Nieto-Granda, Rogers, and Christensen [32], for example, compared three exploring and mapping strategies: the reserves, divide and conquer, and buddy system approaches. Under the reserves approach, extra robots wait in the starting area until they are needed and are then given tasks.…”

Section: Multi-robot Coordinationmentioning

confidence: 99%

Concepts for 3D Printing-Based Self-Replicating Robot Command and Coordination Techniques

Jones

Straub

2017

Machines

View full text Add to dashboard Cite

Self-replicating robots represent a new area for prospective advancement in robotics. A self-replicating robot can identify when additional robots are needed to solve a problem or meet user needs, and create them in response to this identified need. This allows robotic systems to respond to changing (or non-predicted) mission needs. Being able to modify the physical system component provides an additional tool for optimizing robotic system performance. This paper begins the process of developing a command and coordination system that makes decisions with the consideration of replication, repair, and retooling capabilities. A high-level algorithm is proposed and qualitatively assessed.

show abstract

Coordination strategies for multi-robot exploration and mapping

Cited by 58 publications

References 28 publications

Distributed Multirobot Exploration Based on Scene Partitioning and Frontier Selection

Distributed Multirobot Exploration Based on Scene Partitioning and Frontier Selection

A multi-agent framework for cloud-based management of collaborative robots

Concepts for 3D Printing-Based Self-Replicating Robot Command and Coordination Techniques

Contact Info

Product

Resources

About