TY - JOUR
T1 - The sensor-based random graph method for cooperative robot exploration
AU - Franchi, Antonio
AU - Freda, Luigi
AU - Oriolo, Giuseppe
AU - Vendittelli, Marilena
PY - 2009
Y1 - 2009
N2 - We present a decentralized cooperative exploration strategy for a team of mobile robots equipped with range finders. A roadmap of the explored area, with the associate safe region, is built in the form of a sensor-based random graph (SRG). This is expanded by the robots by using a randomized local planner that automatically realizes a tradeoff between information gain and navigation cost. The nodes of the SRG represent view configurations that have been visited by at least one robot, and are connected by arcs that represent safe paths. These paths have been actually traveled by the robots or added to the SRG to improve its connectivity. Decentralized cooperation and coordination mechanisms are used so as to guarantee exploration efficiency and avoid conflicts. Simulations and experiments are presented to show the performance of the proposed technique.
AB - We present a decentralized cooperative exploration strategy for a team of mobile robots equipped with range finders. A roadmap of the explored area, with the associate safe region, is built in the form of a sensor-based random graph (SRG). This is expanded by the robots by using a randomized local planner that automatically realizes a tradeoff between information gain and navigation cost. The nodes of the SRG represent view configurations that have been visited by at least one robot, and are connected by arcs that represent safe paths. These paths have been actually traveled by the robots or added to the SRG to improve its connectivity. Decentralized cooperation and coordination mechanisms are used so as to guarantee exploration efficiency and avoid conflicts. Simulations and experiments are presented to show the performance of the proposed technique.
UR - http://www.scopus.com/inward/record.url?eid=2-s2.0-67349184465&partnerID=MN8TOARS
U2 - 10.1109/TMECH.2009.2013617
DO - 10.1109/TMECH.2009.2013617
M3 - Article
SN - 1083-4435
VL - 14
SP - 163
EP - 175
JO - IEEE/ASME transactions on mechatronics
JF - IEEE/ASME transactions on mechatronics
IS - 2
ER -