Paper Info
Title
Multi-Robot Simultaneous Coverage And Mapping Of Complex Scene - Comparison Of Different Strategies
Abstract
This paper addresses the problem of optimizing the observation of a human scene using several mobile robots. Mobile robots have to cooperate to find a position around the scene maximizing its coverage. The scene coverage is defined as the observation of the human pose skeleton. It is assumed that the robots can communicate but have no map of the environment. Thus the robots have to simultaneously cover and map the scene and the environment. We consider an incremental approach to master state-space complexity. Robots build an hybrid metric-topological map while evaluating the observation of the human pose skeleton. To this end we propose and evaluate different online optimization strategies exploiting local versus global information. We discuss the difference of the performance and cost. Experiments are performed both in simulation and with real robots.
Year
DOI
Venue
2018
10.5555/3237383.3237466
PROCEEDINGS OF THE 17TH INTERNATIONAL CONFERENCE ON AUTONOMOUS AGENTS AND MULTIAGENT SYSTEMS (AAMAS' 18)
Keywords
Field
DocType
multi-robot systems, mapping and exploration, networked robot/sensor systems
Computer vision,Computer science,Global information,Online optimization,Artificial intelligence,Robot,Mobile robot,Distributed computing
Conference
Citations 
PageRank 
References 
0
0.34
8
Authors
2
Name
Order
Citations
PageRank
Laëtitia Matignon1889.43
Olivier Simonin 0001272.20