Multi-robot taboo-list exploration of unknown structured environments

Mihai Andries 1, 2 François Charpillet 1
1 LARSEN - Lifelong Autonomy and interaction skills for Robots in a Sensing ENvironment
Inria Nancy - Grand Est, LORIA - AIS - Department of Complex Systems, Artificial Intelligence & Robotics
Abstract : This paper presents a new taboo-list approach for multi-robot exploration of unknown structured environments, in which agents are implicitly guided in their navigation on a globally shared map. Agents have a local view of their environment, inside which they navigate in a asynchronous manner. When the exploration is complete, agents gather at a rendezvous point. The novelty consists in using a distributed exploration algorithm which is not guided by frontiers to perform this task. Using the Brick&Mortar Improved ant-algorithm as a base, we add robot-perspective vision, variable vision range, and an optimization which prevents agents from going to the rendezvous point before exploration is complete. The algorithm was evaluated in simulation on a set of standard maps.
Type de document :
Communication dans un congrès
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Sep 2015, Hamburg, Germany. 2015, 〈http://www.iros2015.org/〉
Liste complète des métadonnées

Littérature citée [11 références]  Voir  Masquer  Télécharger

https://hal.inria.fr/hal-01196008
Contributeur : Mihai Andries <>
Soumis le : mardi 8 septembre 2015 - 19:05:33
Dernière modification le : jeudi 11 janvier 2018 - 06:27:29
Document(s) archivé(s) le : mercredi 9 décembre 2015 - 11:31:00

Licence


Copyright (Tous droits réservés)

Identifiants

  • HAL Id : hal-01196008, version 1

Collections

Citation

Mihai Andries, François Charpillet. Multi-robot taboo-list exploration of unknown structured environments. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Sep 2015, Hamburg, Germany. 2015, 〈http://www.iros2015.org/〉. 〈hal-01196008〉

Partager

Métriques

Consultations de la notice

562

Téléchargements de fichiers

257