FRONTIER BASED MULTI ROBOT AREA EXPLORATION USING PRIORITIZED ROUTING

Sharma K., Rahul; Honc, Daniel; Dušek, František; Kumar, Gireesh T.

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FRONTIER BASED MULTI ROBOT AREA EXPLORATION USING PRIORITIZED ROUTING

Sharma K., Rahul; Honc, Daniel; Dušek, František; Kumar, Gireesh T.

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URI: http://hdl.handle.net/10195/67255

Datum publikování: 2016

Typ dokumentu: ConferenceObject

Zdrojový dokument: PROCEEDINGS - 30TH EUROPEAN CONFERENCE ON MODELLING AND SIMULATION ECMS 2016

Název akce 30th European Conference on Modelling and Simulation, ECMS 2016 (31.05.2016 - 03.06.2016)

Abstrakt:

The paper deals with multi-robot centralized autonomous area exploration of unknown environment with static obstacles. A simple reasoning algorithm based on pre-assignment of routing priority is proposed. The algorithm tracks the frontiers and assigns the robots to the frontiers when the robots fall into a trap situation. The algorithm is simulated with various multi-robotic configurations in different environments and compared with performance indices in the MATLAB simulation environment.

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