Conference paper
Exploration and Search with Cooperative Mobile Robots
A solution to the exploration and search task for multiple, heterogeneous, mobile robots is presented. The robots build a map of the environment using low-cost IR range finders and search the mapped area for objects of interest using vision. Communication is carried out on a P2P (Peer-To-Peer) network for fault tolerance.
The P2P network is based on the JXTA framework and robots can join and leave the team dynamically. The robots are coordinated such that they distribute themselves in the environment without relying on a central agent. The solution has been tested on real mobile robots and simulated. The software is running locally on the robots, i.e. on low-end PCs.
The result of the simulation shows that the software scales to a large number of robots. In this context we will focus on the mapping and coordination, which are considered the key contribution.
Language: | English |
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Year: | 2005 |
Proceedings: | International Symposium on Robotics, ISR |
Types: | Conference paper |
ORCIDs: | Andersen, Nils Axel and Ravn, Ole |