Comparaison de stratégies d'exploration multi-robot classiques et interactives en environnement peuplé

Nassim Kaldé 1 François Charpillet 1 Olivier Simonin 2
1 MAIA - Autonomous intelligent machine
Inria Nancy - Grand Est, LORIA - AIS - Department of Complex Systems, Artificial Intelligence & Robotics
2 DYNAMID - Dynamic Software and Distributed Systems
CITI - CITI Centre of Innovation in Telecommunications and Integration of services
Abstract : Multi-robot exploration consists in efficiently observing all the reachable space of the environment. This task raises several issues concerning task allocation, robot coordination, path planning and communication. We are interested in exploring human-populated environments. Human movement and actions render these environments dynamic, and thus difficult to explore. In this paper, we propose to evaluate to which extent exploiting human presence can help rather than hinder exploration. We present a model for exploration in populated environments and define a human-robot interaction cost. We also formalise an interaction-based exploration framework inspired by classical frontier exploration. Finally, we evaluate the impact of considering human-robot interactions in frontier-based exploration.
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Nassim Kaldé, François Charpillet, Olivier Simonin. Comparaison de stratégies d'exploration multi-robot classiques et interactives en environnement peuplé. JFSMA 2014 - Journées Francophones sur les Systèmes Multi-Agents, Oct 2014, Loriol-sur-Drôme, France. ⟨hal-01006352⟩

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