COMPARISON OF CLASSICAL AND INTERACTIVE MULTI-ROBOT EXPLORATION STRATEGIES IN POPULATED ENVIRONMENTS
Multi-robot exploration consists in coordinating robots for mapping an unknown environment. It raises several issues concerning task allocation, robot control, path planning and communication. We study exploration in populated environments, in which pedestrian flows can severely impact performances....
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
CTU Central Library
2015-06-01
|
| Series: | Acta Polytechnica |
| Subjects: | |
| Online Access: | https://ojs.cvut.cz/ojs/index.php/ap/article/view/3037 |
| _version_ | 1818518784329121792 |
|---|---|
| author | Nassim Kalde Olivier Simonin François Charpillet |
| author_facet | Nassim Kalde Olivier Simonin François Charpillet |
| author_sort | Nassim Kalde |
| collection | DOAJ |
| description | Multi-robot exploration consists in coordinating robots for mapping an unknown environment. It raises several issues concerning task allocation, robot control, path planning and communication. We study exploration in populated environments, in which pedestrian flows can severely impact performances. However, humans have adaptive skills for taking advantage of these flows while moving. Therefore, in order to exploit these human abilities, we propose a novel exploration strategy that explicitly allows for human-robot interactions. Our model for exploration in populated environments combines the classical frontier-based strategy with our interactive approach. We implement interactions where robots can locally choose a human guide to follow and define a parametric heuristic to balance interaction and frontier assignments. Finally, we evaluate to which extent human presence impacts our exploration model in terms of coverage ratio, travelled distance and elapsed time to completion. |
| first_indexed | 2024-12-11T01:15:00Z |
| format | Article |
| id | doaj.art-c236d523acdc4cbe9b60b0406c99ae50 |
| institution | Directory Open Access Journal |
| issn | 1210-2709 1805-2363 |
| language | English |
| last_indexed | 2024-12-11T01:15:00Z |
| publishDate | 2015-06-01 |
| publisher | CTU Central Library |
| record_format | Article |
| series | Acta Polytechnica |
| spelling | doaj.art-c236d523acdc4cbe9b60b0406c99ae502022-12-22T01:25:56ZengCTU Central LibraryActa Polytechnica1210-27091805-23632015-06-0155315416110.14311/AP.2015.55.01542757COMPARISON OF CLASSICAL AND INTERACTIVE MULTI-ROBOT EXPLORATION STRATEGIES IN POPULATED ENVIRONMENTSNassim Kalde0Olivier Simonin1François Charpillet2Inria, Villers-lès-Nancy, 54600, France Université de Lorraine, LORIA, UMR 7503, Vandoeuvre-lès-Nancy, 54506, France CNRS, LORIA, UMR 7503, Vandoeuvre-lès-Nancy, 54506, FranceCITI-Inria Laboratory, INSA Lyon, 69621 Villeurbanne, FranceInria, Villers-lès-Nancy, 54600, France Université de Lorraine, LORIA, UMR 7503, Vandoeuvre-lès-Nancy, 54506, France CNRS, LORIA, UMR 7503, Vandoeuvre-lès-Nancy, 54506, FranceMulti-robot exploration consists in coordinating robots for mapping an unknown environment. It raises several issues concerning task allocation, robot control, path planning and communication. We study exploration in populated environments, in which pedestrian flows can severely impact performances. However, humans have adaptive skills for taking advantage of these flows while moving. Therefore, in order to exploit these human abilities, we propose a novel exploration strategy that explicitly allows for human-robot interactions. Our model for exploration in populated environments combines the classical frontier-based strategy with our interactive approach. We implement interactions where robots can locally choose a human guide to follow and define a parametric heuristic to balance interaction and frontier assignments. Finally, we evaluate to which extent human presence impacts our exploration model in terms of coverage ratio, travelled distance and elapsed time to completion.https://ojs.cvut.cz/ojs/index.php/ap/article/view/3037artificial intelligencemulti-agent systemrobotic explorationhuman-robot interaction |
| spellingShingle | Nassim Kalde Olivier Simonin François Charpillet COMPARISON OF CLASSICAL AND INTERACTIVE MULTI-ROBOT EXPLORATION STRATEGIES IN POPULATED ENVIRONMENTS Acta Polytechnica artificial intelligence multi-agent system robotic exploration human-robot interaction |
| title | COMPARISON OF CLASSICAL AND INTERACTIVE MULTI-ROBOT EXPLORATION STRATEGIES IN POPULATED ENVIRONMENTS |
| title_full | COMPARISON OF CLASSICAL AND INTERACTIVE MULTI-ROBOT EXPLORATION STRATEGIES IN POPULATED ENVIRONMENTS |
| title_fullStr | COMPARISON OF CLASSICAL AND INTERACTIVE MULTI-ROBOT EXPLORATION STRATEGIES IN POPULATED ENVIRONMENTS |
| title_full_unstemmed | COMPARISON OF CLASSICAL AND INTERACTIVE MULTI-ROBOT EXPLORATION STRATEGIES IN POPULATED ENVIRONMENTS |
| title_short | COMPARISON OF CLASSICAL AND INTERACTIVE MULTI-ROBOT EXPLORATION STRATEGIES IN POPULATED ENVIRONMENTS |
| title_sort | comparison of classical and interactive multi robot exploration strategies in populated environments |
| topic | artificial intelligence multi-agent system robotic exploration human-robot interaction |
| url | https://ojs.cvut.cz/ojs/index.php/ap/article/view/3037 |
| work_keys_str_mv | AT nassimkalde comparisonofclassicalandinteractivemultirobotexplorationstrategiesinpopulatedenvironments AT oliviersimonin comparisonofclassicalandinteractivemultirobotexplorationstrategiesinpopulatedenvironments AT francoischarpillet comparisonofclassicalandinteractivemultirobotexplorationstrategiesinpopulatedenvironments |