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  Decentralized cooperative exploration: implementation and experiments

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.

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Item Permalink: https://hdl.handle.net/11858/00-001M-0000-0013-C83B-0 Version Permalink: https://hdl.handle.net/21.11116/0000-0003-3D84-4
Genre: Conference Paper

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http://ebooks.iospress.nl/publication/29422 (Publisher version)
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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: 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.

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Language(s):
 Dates: 2008-07
 Publication Status: Issued
 Pages: -
 Publishing info: -
 Table of Contents: -
 Rev. Type: -
 Identifiers: DOI: 10.3233/978-1-58603-887-8-348
BibTex Citekey: 6411
 Degree: -

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Title: 10th International Conference on Intelligent Autonomous Systems (IAS 2008)
Place of Event: Baden-Baden, Germany
Start-/End Date: 2008-07-23 - 2008-07-27

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Title: Intelligent Autonomous Systems 10
Source Genre: Proceedings
 Creator(s):
Burgard, W, Editor
Dillmann, R, Editor
Plagermann, C, Editor
Vahrenkamp, N, Editor
Affiliations:
-
Publ. Info: Amsterdam, Netherlands : IOS Press
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 348 - 355 Identifier: ISBN: 978-1-58603-887-8