A two-level approach for multi-robot coordinated exploration of unstructured environments
The efficiency of Multi-Robot Exploration can be improved by having a balanced distribution of robots in the environment. Exploration strategies for indoor/structured environments can ensure a balanced distribution of robots by explicitly assigning robots to distinct regions in the environment. Howe...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Conference Paper |
| Language: | English |
| Published: |
2013
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| Online Access: | https://hdl.handle.net/10356/99121 http://hdl.handle.net/10220/12582 |
| _version_ | 1824454775377231872 |
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| author | Senarathne, P. G. C. N. Wang, Danwei |
| author2 | School of Electrical and Electronic Engineering |
| author_facet | School of Electrical and Electronic Engineering Senarathne, P. G. C. N. Wang, Danwei |
| author_sort | Senarathne, P. G. C. N. |
| collection | NTU |
| description | The efficiency of Multi-Robot Exploration can be improved by having a balanced distribution of robots in the environment. Exploration strategies for indoor/structured environments can ensure a balanced distribution of robots by explicitly assigning robots to distinct regions in the environment. However, unstructured environments do not support partitioning of environments to distinct regions, thus requires an alternative way of ensuring the balanced distribution of the robots. This paper presents a two level approach to multi-robot coordinated exploration of unstructured environments where a classical coordination method is employed at the lower level to provide a localized coordination while a higher level robot repositioning strategy is used to generate a balanced distribution of the robots in the environment. Simulation results indicate that this new approach provides a balanced distribution of the robots over the environment and improves the exploration efficiency over localized coordination strategies. |
| first_indexed | 2025-02-19T03:27:40Z |
| format | Conference Paper |
| id | ntu-10356/99121 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2025-02-19T03:27:40Z |
| publishDate | 2013 |
| record_format | dspace |
| spelling | ntu-10356/991212020-03-07T13:24:49Z A two-level approach for multi-robot coordinated exploration of unstructured environments Senarathne, P. G. C. N. Wang, Danwei School of Electrical and Electronic Engineering Symposium on Applied Computing (27th : 2012 : Trento, Italy) The efficiency of Multi-Robot Exploration can be improved by having a balanced distribution of robots in the environment. Exploration strategies for indoor/structured environments can ensure a balanced distribution of robots by explicitly assigning robots to distinct regions in the environment. However, unstructured environments do not support partitioning of environments to distinct regions, thus requires an alternative way of ensuring the balanced distribution of the robots. This paper presents a two level approach to multi-robot coordinated exploration of unstructured environments where a classical coordination method is employed at the lower level to provide a localized coordination while a higher level robot repositioning strategy is used to generate a balanced distribution of the robots in the environment. Simulation results indicate that this new approach provides a balanced distribution of the robots over the environment and improves the exploration efficiency over localized coordination strategies. 2013-07-31T03:57:41Z 2019-12-06T20:03:36Z 2013-07-31T03:57:41Z 2019-12-06T20:03:36Z 2012 2012 Conference Paper Senarathne, P. G. C. N., & Wang, D. (2012). A two-level approach for multi-robot coordinated exploration of unstructured environments. Proceedings of the 27th Annual ACM Symposium on Applied Computing - SAC '12, 274-279. https://hdl.handle.net/10356/99121 http://hdl.handle.net/10220/12582 10.1145/2245276.2245331 en |
| spellingShingle | Senarathne, P. G. C. N. Wang, Danwei A two-level approach for multi-robot coordinated exploration of unstructured environments |
| title | A two-level approach for multi-robot coordinated exploration of unstructured environments |
| title_full | A two-level approach for multi-robot coordinated exploration of unstructured environments |
| title_fullStr | A two-level approach for multi-robot coordinated exploration of unstructured environments |
| title_full_unstemmed | A two-level approach for multi-robot coordinated exploration of unstructured environments |
| title_short | A two-level approach for multi-robot coordinated exploration of unstructured environments |
| title_sort | two level approach for multi robot coordinated exploration of unstructured environments |
| url | https://hdl.handle.net/10356/99121 http://hdl.handle.net/10220/12582 |
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