Exploration et couverture par stigmergie d'un environnement inconnu avec une flotte de robots autonomes réactifs

Abstract : Different approaches exist for multi-robot autonomous exploration. These include frontier approaches, where robots are assigned to unexplored areas of the map, which provide good performance but require sharing the map and centralizing decision-making. The Brick and Mortar approaches, on the other hand, use a ground marking with local decision-making, but give much lower performance. The algorithm presented here is a trade-o between these two approaches, allowing local decision-making and, surprisingly, performances are closed to centralized frontier approaches. We also propose a comparative study of the performance of the three dierent approaches : Brick & Mortar, Global Frontiers and Local Frontiers. Our local algorithm is also complete for the exploration problem and can be easily distributed on robots with a minor loss of performance.
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https://hal.inria.fr/hal-02195812
Contributor : Nicolas Gauville <>
Submitted on : Friday, July 26, 2019 - 3:11:00 PM
Last modification on : Tuesday, September 10, 2019 - 4:48:24 PM

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Nicolas Gauville, François Charpillet. Exploration et couverture par stigmergie d'un environnement inconnu avec une flotte de robots autonomes réactifs. JFSMA 2019 - 27emes Journées Francophones sur les Systèmes Multi-Agents, Jul 2019, Toulouse, France. ⟨hal-02195812⟩

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