![]() ![]() The technique has been implemented and tested extensively in real-world experiments and simulation runs. ![]() This way, a team of multiple robots assigns different target points to the individual robots. Whenever a target point is assigned to a specific robot, the utility of the unexplored area visible from this target position is reduced for the other robots. The utility of target points is given by the size of the unexplored area that a robot can cover with its sensors upon reaching a target position. We present a probabilistic approach for the coordination of multiple robots which, in contrast to previous approaches, simultaneously takes into account the costs of reaching a target point and the utility of target points. The key problem to be solved therefore is to choose appropriate target points for the individual robots so that they simultaneously explore different regions of their environment. As in single-robot exploration the goal is to minimize the overall exploration time. The work raises a series of interesting theoretical problems.read more read lessĪbstract: In this paper we consider the problem of exploring an unknown environment by a team of robots. The novelty of this work is its experimental aspect involving long range network communication across a large distance via the internet. We ran several experiments, with intentional packet loss, that illustrate the degradation of the results in the case of modest and severe packet loss. The communication protocol was designed to minimize loss of packets, and average transfer delays are within tolerance limits for practical applications. Extensive experimental results were obtained with real internet communication and virtual testbeds running in each lab. A dual-testbed design is developed involving real robots and remote network communication, performing a cooperative swarming algorithm based on a modified Morse Potential. The goal is to have all robots properly follow a leader defined on one of the testbeds, while maintaining non-overlapping positions within each swarm and between swarms, assuming they are superimposed in the same virtual space. The results showed the effectiveness of the proposed technique.read more read lessĪbstract: We consider cooperative control of robots involving two different testbed systems in remote locations in different time zones, with communication on the internet. The new technique is intensively tested with different environments. More importantly, the proposed technique obviates the need for environment segmentation complex procedures which is adopted in some previous important research works. And secondly, it aims at reducing computations complexity required by target selection and path planning tasks. To achieve this, a new procedure to assign the next target location for each individual robot is proposed. In particular, the new technique has two main objectives: firstly, it aims at reducing the exploration time and the traveled distance by reducing the overlap which takes place when a certain area in the environment is explored by more than one robot. A new exploration technique is proposed to increase the exploration efficiency. Abstract: In this paper, the exploration and map-building of unknown environment by a team of mobile robots is intensively investigated.
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