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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 10th International Conference on Intelligent Autonomous Systems (IAS 2008) (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/11858/00-001M-0000-0013-C83C-E
Genre: Conference Paper

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 Creators:
Franchi, A1, Author           
Freda L, Oriolo, G, Author
Vendittelli, M, Author
Burgard, Editor
W., Editor
Dillmann, R., Editor
Plagermann, C., Editor
Vahrenkamp, N., Editor
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              

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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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 Dates: 2008-07
 Publication Status: Issued
 Pages: -
 Publishing info: -
 Table of Contents: -
 Rev. Type: -
 Identifiers: URI: http://www.ias-10.org/
DOI: 10.3233/978-1-58603-887-8-348
BibTex Citekey: 6411
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Title: 10th International Conference on Intelligent Autonomous Systems (IAS 2008)
Place of Event: Baden-Baden, Germany
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Title: 10th International Conference on Intelligent Autonomous Systems (IAS 2008)
Source Genre: Proceedings
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Affiliations:
Publ. Info: Amsterdam, Netherlands : IOS Press
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 348 - 355 Identifier: -