A Distributed Algorithm for Cooperative 3D Exploration under Communication Constraints
An algorithm for distributed exploration in 3D is presented which always keeps the robots within communication range of each other. The method is based on a greedy optimization strategy that uses a heuristic utility function. This makes it computationally very efficient but it can also lead to local...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
De Gruyter
2013-12-01
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| Series: | Paladyn |
| Subjects: | |
| Online Access: | https://doi.org/10.2478/pjbr-2013-0020 |
| _version_ | 1797668640309379072 |
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| author | Rathnam Ravi Kulan Birk Andreas |
| author_facet | Rathnam Ravi Kulan Birk Andreas |
| author_sort | Rathnam Ravi Kulan |
| collection | DOAJ |
| description | An algorithm for distributed exploration in 3D is presented which always keeps the robots within communication range
of each other. The method is based on a greedy optimization strategy that uses a heuristic utility function. This makes
it computationally very efficient but it can also lead to local minimums; but related deadlocks can be easily detected
during the exploration process and there is an efficient strategy to recover from them. The exploration algorithm
is integrated into a complete control infrastructure for Autonomous Underwater Vehicles (AUV) containing sensors,
mapping, navigation, and control of actuators. The algorithm is tested in a high fidelity simulator which takes into
account the dynamics of the robot, and simulates the required sensors. The effect of the communication range and
the number of robots on the algorithm is investigated. |
| first_indexed | 2024-03-11T20:32:20Z |
| format | Article |
| id | doaj.art-798a5292e73440c79c3573cd20057326 |
| institution | Directory Open Access Journal |
| issn | 2081-4836 |
| language | English |
| last_indexed | 2024-03-11T20:32:20Z |
| publishDate | 2013-12-01 |
| publisher | De Gruyter |
| record_format | Article |
| series | Paladyn |
| spelling | doaj.art-798a5292e73440c79c3573cd200573262023-10-02T07:55:44ZengDe GruyterPaladyn2081-48362013-12-014422323210.2478/pjbr-2013-0020A Distributed Algorithm for Cooperative 3D Exploration under Communication ConstraintsRathnam Ravi Kulan0Birk Andreas1Jacobs University Bremen, Campus Ring 1, 28759 Bremen, GermanyJacobs University Bremen, Campus Ring 1, 28759 Bremen, GermanyAn algorithm for distributed exploration in 3D is presented which always keeps the robots within communication range of each other. The method is based on a greedy optimization strategy that uses a heuristic utility function. This makes it computationally very efficient but it can also lead to local minimums; but related deadlocks can be easily detected during the exploration process and there is an efficient strategy to recover from them. The exploration algorithm is integrated into a complete control infrastructure for Autonomous Underwater Vehicles (AUV) containing sensors, mapping, navigation, and control of actuators. The algorithm is tested in a high fidelity simulator which takes into account the dynamics of the robot, and simulates the required sensors. The effect of the communication range and the number of robots on the algorithm is investigated.https://doi.org/10.2478/pjbr-2013-0020exploration robot team multi-agent systems marine robotics autonomous underwater vehicle (auv) habitat mapping |
| spellingShingle | Rathnam Ravi Kulan Birk Andreas A Distributed Algorithm for Cooperative 3D Exploration under Communication Constraints Paladyn exploration robot team multi-agent systems marine robotics autonomous underwater vehicle (auv) habitat mapping |
| title | A Distributed Algorithm for Cooperative 3D Exploration under
Communication Constraints |
| title_full | A Distributed Algorithm for Cooperative 3D Exploration under
Communication Constraints |
| title_fullStr | A Distributed Algorithm for Cooperative 3D Exploration under
Communication Constraints |
| title_full_unstemmed | A Distributed Algorithm for Cooperative 3D Exploration under
Communication Constraints |
| title_short | A Distributed Algorithm for Cooperative 3D Exploration under
Communication Constraints |
| title_sort | distributed algorithm for cooperative 3d exploration under communication constraints |
| topic | exploration robot team multi-agent systems marine robotics autonomous underwater vehicle (auv) habitat mapping |
| url | https://doi.org/10.2478/pjbr-2013-0020 |
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