Paper Info
Title
Efficient map synchronization in ad hoc mobile robot networks for environment exploration
Abstract
Information sharing through explicit communication is necessary in many multi-robot applications in order to achieve effective decision making. However, unnecessary large volumes of communication data usually lead to time delay and energy waste. This paper addresses the problem of how to efficiently synchronize the map (or explored area) among multiple robots when they carry out cooperative area exploration or coverage. In this application, multiple robots need exchange map information in order to minimize the repeated exploration or coverage. When a connected ad hoc network can not be maintained, the map synchronization problem becomes more challenging. In this paper, a sequence number based map representation scheme and an effective map update tracking scheme are proposed. Based on them, an algorithm is developed to reduce the volumes of map exchange when robot subnetworks merge. Simulation results validate this algorithm.
Year
DOI
Venue
2005
10.1109/IROS.2005.1545195
IROS
Keywords
Field
DocType
exploration and coverage,multi-robot,distributed algorithm,environment exploration,map information exchange,mobile robots,multi-robot systems,multirobot systems,knowledge representation,ad hoc mobile robot network,map synchronization,cooperative area exploration,ad hoc networks,mobile computing,ad hoc network,mobile robot
Mobile computing,Mobile ad hoc network,Synchronization,Computer science,Real-time computing,Optimized Link State Routing Protocol,Wireless ad hoc network,Mobile robot navigation,Vehicular ad hoc network,Mobile robot,Distributed computing
Conference
Volume
Issue
ISBN
null
null
0-7803-8912-3
Citations 
PageRank 
References 
6
0.54
8
Authors
4
Name
Order
Citations
PageRank
Weihua Sheng177873.18
Qingyan Yang21378.63
Zhu, Shenghuo32996167.68
Qizhi Wang461.55