J. de Hoog
- Role-based autonomous multi-robot exploration
- First International Conference on Advanced Cognitive Technologies and Applications (COGNITIVE 2009), Athens/Glyfada, Greece
- Book/source title
- Computation world: Future computing, service computation, cognitive, content, patterns: ComputationWorld 2009, proceedings: 15-20 November 2009, Athens, Greece
- Pages (from-to)
- Los Alamitos, CA: IEEE Computer Society
- Document type
- Conference contribution
- Faculty of Science (FNWI)
- Informatics Institute (IVI)
Thanks to advances in both computer science and engineering, the divide between robotics and multi-agent systems is shrinking. Robots are capable of performing an ever wider range of tasks, and there is an increasing need for solutions to high-level problems such as multi-agent coordination. In this paper we examine the problem of finding a robust exploration strategy for a team of mobile robots that takes into account communication limitations. We propose four performance metrics to evaluate and compare existing multi-robot exploration algorithms, and present a role-based approach in which robots either act as explorers or as relays. The result is a complete exploration of the environment in which information is efficiently returned to a central command centre, which is particularly applicable to the domain of rescue robotics.
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