Name
Abstract | ||
|---|---|---|
We present a decentralized cooperative exploration strategy for mobile robots. A roadmap of the explored area, with the associate safe region, is built in the form of a compact data structure, called Sensor-based Random Graph. This is incrementally expanded by the robots by using a randomized local planner which automatically realizes a trade-off between information gain and navigation cost. Connecting structures, called bridges, are incrementally added to the graph to create shortcuts and improve the connectivity of the roadmap. Decentralized cooperation and coordination mechanisms are used so as to guarantee exploration efficiency and avoid conflicts. Simulations are presented to show the performance of the proposed technique. |
Year | DOI | Venue |
|---|---|---|
2007 | 10.1145/1377868.1377877 | ROBOCOMM |
Keywords | Field | DocType |
decentralized strategy,decentralized cooperation,sensor-based random graph,cooperative robot exploration,associate safe region,exploration efficiency,decentralized cooperative exploration strategy,mobile robot,coordination mechanism,compact data structure,explored area,information gain,random graph,data structure | Data structure,Graph,Random graph,Computer science,Information gain,Planner,Robot,Mobile robot,Distributed computing | Conference |
Citations | PageRank | References |
3 | 0.38 | 16 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Antonio Franchi | 1 | 882 | 66.94 |
| Luigi Freda | 2 | 95 | 7.56 |
| Giuseppe Oriolo | 3 | 1270 | 100.12 |
| Marilena Vendittelli | 4 | 408 | 29.31 |