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Stratégie d'exploration multirobot fondée sur les champs de potentiels artificiels

Antoine Bautin 1 Olivier Simonin 1 François Charpillet 1
1 MAIA - Autonomous intelligent machine
Inria Nancy - Grand Est, LORIA - AIS - Department of Complex Systems, Artificial Intelligence & Robotics
Abstract : The context of this work is multirobot exploration and mapping of unknown environments. Frontiers (boundaries between empty and unexplored areas) are points to go to in order to increase explored area. In this paper, we propose a frontier allocation method for the exploration and mapping of indoor environments using multiple robots. A wavefront propagation algorithm is used to build a local minimum free potential field with a gradient descending towards frontiers used for navigation and path distance computation. Exploration is done by successively exploring frontiers assigned using a novel, computationally inexpensive algorithm based on the cardinal of the set of robots closer to the frontier than the robot being assigned. Experiments in simulation and on robots demonstrated the validity of the frontier allocation approach.
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Antoine Bautin, Olivier Simonin, François Charpillet. Stratégie d'exploration multirobot fondée sur les champs de potentiels artificiels. Revue des Sciences et Technologies de l'Information - Série RIA : Revue d'Intelligence Artificielle, Lavoisier, 2012, Systèmes multi-agents - Initiatives mixtes, 26 (5), pp.523-542. ⟨10.3166/ria.26.523-542⟩. ⟨hal-00757894⟩

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