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Type of publication:Inproceedings
Entered by:JOSM
TitleIncluding communication success in the estimation of information gain for multi-robot exploration
Bibtex cite IDvisser2008wmcnr
Booktitle Proceedings of the 6th International Symposium on Modeling and Optimization in Mobile, Ad Hoc, and Wireless Networks (WiOpt 2008)
Year published 2008
Month April
Pages 680-687
Publisher IEEE Publishing
Location 1-3 April 2008, Berlin, Germany
Note ISBN 978-963-9799-18-9
URL http://www.science.uva.nl/~arnoud/publications/wmcnr2008.pdf
DOI 10.1109/wiopt.2008.4586160
Keywords including communication,information estimation,multi-robot exploration
Abstract
This article investigates the effect of incorporating knowledge about the communication possibilities in an exploration algorithm used to map an unknown environment. The mission is to explore a hypothetical disaster site with a small team of robots. The challenge faced by the robot team is to coordinate their actions such that they efficiently explore the environment in their search for victims. The coordination can only be optimal when the robots share the same map. With a limited communication range the map cannot be shared in all circumstances. This article concentrates on the effect of a distributed map, where each robot has only has knowledge of a part of the global map and has no guaranteed connection to the other robot or the operator.
Authors
Visser, Arnoud
Slamet, Bayu A.
Topics
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