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A two-level approach for multi-robot coordinated exploration of unstructured environments

Authors:

P. G. C. N. Senarathne,

Danwei WangAuthors Info & Claims

SAC '12: Proceedings of the 27th Annual ACM Symposium on Applied Computing

Pages 274 - 279

https://doi.org/10.1145/2245276.2245331

Published: 26 March 2012 Publication History

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Abstract

The efficiency of Multi-Robot Exploration can be improved by having a balanced distribution of robots in the environment. Exploration strategies for indoor/structured environments can ensure a balanced distribution of robots by explicitly assigning robots to distinct regions in the environment. However, unstructured environments do not support partitioning of environments to distinct regions, thus requires an alternative way of ensuring the balanced distribution of the robots. This paper presents a two level approach to multi-robot coordinated exploration of unstructured environments where a classical coordination method is employed at the lower level to provide a localized coordination while a higher level robot repositioning strategy is used to generate a balanced distribution of the robots in the environment. Simulation results indicate that this new approach provides a balanced distribution of the robots over the environment and improves the exploration efficiency over localized coordination strategies.

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Cited By

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Gul FMir IAbualigah LSumari P(2021)Multi-Robot Space Exploration: An Augmented Arithmetic ApproachIEEE Access10.1109/ACCESS.2021.31012109(107738-107750)Online publication date: 2021
https://doi.org/10.1109/ACCESS.2021.3101210
Albina KLee S(2019)Hybrid Stochastic Exploration Using Grey Wolf Optimizer and Coordinated Multi-Robot Exploration AlgorithmsIEEE Access10.1109/ACCESS.2019.28945247(14246-14255)Online publication date: 2019
https://doi.org/10.1109/ACCESS.2019.2894524
Li CQin S(2013)Task Cooperation and Behavior Coordination of Multi-Robot Environment Exploration Based on Artificial Potential FieldApplied Mechanics and Materials10.4028/www.scientific.net/AMM.433-435.587433-435(587-594)Online publication date: Oct-2013
https://doi.org/10.4028/www.scientific.net/AMM.433-435.587

Index Terms

A two-level approach for multi-robot coordinated exploration of unstructured environments
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Robotics
      1. Robotic autonomy
2. Computing methodologies
  1. Artificial intelligence
    1. Distributed artificial intelligence
      1. Intelligent agents
      2. Multi-agent systems

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Published In

SAC '12: Proceedings of the 27th Annual ACM Symposium on Applied Computing

March 2012

2179 pages

ISBN:9781450308571

DOI:10.1145/2245276

Conference Chairs:
Sascha Ossowski
University Rey Juan Carlos, Spain
,
Paola Lecca
The Microsoft Research - University of Trento COSBI, Italy

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 26 March 2012

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SAC 2012

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SIGAPP

SAC 2012: ACM Symposium on Applied Computing

March 26 - 30, 2012

Trento, Italy

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SAC '12 Paper Acceptance Rate 270 of 1,056 submissions, 26%;

Overall Acceptance Rate 1,650 of 6,669 submissions, 25%

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Cited By

View all

Gul FMir IAbualigah LSumari P(2021)Multi-Robot Space Exploration: An Augmented Arithmetic ApproachIEEE Access10.1109/ACCESS.2021.31012109(107738-107750)Online publication date: 2021
https://doi.org/10.1109/ACCESS.2021.3101210
Albina KLee S(2019)Hybrid Stochastic Exploration Using Grey Wolf Optimizer and Coordinated Multi-Robot Exploration AlgorithmsIEEE Access10.1109/ACCESS.2019.28945247(14246-14255)Online publication date: 2019
https://doi.org/10.1109/ACCESS.2019.2894524
Li CQin S(2013)Task Cooperation and Behavior Coordination of Multi-Robot Environment Exploration Based on Artificial Potential FieldApplied Mechanics and Materials10.4028/www.scientific.net/AMM.433-435.587433-435(587-594)Online publication date: Oct-2013
https://doi.org/10.4028/www.scientific.net/AMM.433-435.587

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Coordinated multi-robot exploration

Lifelong Adaptation in Heterogeneous Multi-Robot Teams: Response to Continual Variation in Individual Robot Performance

Distributed multi-robot formation control in dynamic environments