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Decentralized cooperative exploration: implementation and experiments

MPG-Autoren
http://pubman.mpdl.mpg.de/cone/persons/resource/persons83915

Franchi,  A
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Zitation

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.


Zitierlink: http://hdl.handle.net/11858/00-001M-0000-0013-C83B-0
Zusammenfassung
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.