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Article: Distributed multi-robot coordination in area exploration

TitleDistributed multi-robot coordination in area exploration
Authors
KeywordsExploration
Multi-robot coordination
Issue Date2006
Citation
Robotics and Autonomous Systems, 2006, v. 54, n. 12, p. 945-955 How to Cite?
AbstractThis paper proposes a reliable and efficient multi-robot coordination algorithm to accomplish an area exploration task given that the communication range of each robot is limited. This algorithm is based on a distributed bidding model to coordinate the movement of multiple robots. Two measures are developed to accommodate the limited-range communications. First, the distances between robots are considered in the bidding algorithm so that the robots tend to stay close to each other. Second, a map synchronization mechanism, based on a novel sequence number-based map representation and an effective robot map update tracking, is proposed to reduce the exchanged data volume when robot subnetworks merge. Simulation results show the effectiveness of the use of nearness measure, as well as the map synchronization mechanism. By handling the limited communication range we can make the coordination algorithms more realistic in multi-robot applications. © 2006 Elsevier Ltd. All rights reserved.
Persistent Identifierhttp://hdl.handle.net/10722/212894
ISSN
2015 Impact Factor: 1.618
2015 SCImago Journal Rankings: 1.377

 

DC FieldValueLanguage
dc.contributor.authorSheng, Weihua-
dc.contributor.authorYang, Qingyan-
dc.contributor.authorTan, Jindong-
dc.contributor.authorXi, Ning-
dc.date.accessioned2015-07-28T04:05:21Z-
dc.date.available2015-07-28T04:05:21Z-
dc.date.issued2006-
dc.identifier.citationRobotics and Autonomous Systems, 2006, v. 54, n. 12, p. 945-955-
dc.identifier.issn0921-8890-
dc.identifier.urihttp://hdl.handle.net/10722/212894-
dc.description.abstractThis paper proposes a reliable and efficient multi-robot coordination algorithm to accomplish an area exploration task given that the communication range of each robot is limited. This algorithm is based on a distributed bidding model to coordinate the movement of multiple robots. Two measures are developed to accommodate the limited-range communications. First, the distances between robots are considered in the bidding algorithm so that the robots tend to stay close to each other. Second, a map synchronization mechanism, based on a novel sequence number-based map representation and an effective robot map update tracking, is proposed to reduce the exchanged data volume when robot subnetworks merge. Simulation results show the effectiveness of the use of nearness measure, as well as the map synchronization mechanism. By handling the limited communication range we can make the coordination algorithms more realistic in multi-robot applications. © 2006 Elsevier Ltd. All rights reserved.-
dc.languageeng-
dc.relation.ispartofRobotics and Autonomous Systems-
dc.subjectExploration-
dc.subjectMulti-robot coordination-
dc.titleDistributed multi-robot coordination in area exploration-
dc.typeArticle-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.doi10.1016/j.robot.2006.06.003-
dc.identifier.scopuseid_2-s2.0-33846007698-
dc.identifier.volume54-
dc.identifier.issue12-
dc.identifier.spage945-
dc.identifier.epage955-

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