Document Type
Article
Keywords
Multi-robot exploration, potential field path-planning, autonomous systems
Disciplines
Computer Engineering | Robotics
Abstract
In this paper we propose an approach, the Space-Based Potential Field (SBPF) approach, to controlling multiple robots for area exploration missions that focus on robot dispersion. The SBPF method is based on a potential field approach that leverages knowledge of the overall bounds of the area to be explored. This additional information allows a simpler potential field control strategy for all robots but which nonetheless has good dispersion and overlap performance in all the multi-robot scenarios while avoiding potential minima. Both simulation and robot experimental results are presented as evidence.
Article Number
1047
Publication Date
7-2014
Recommended Citation
Liu, Tsung-Ming and Lyons, Damian M., "Leveraging Area Bounds Information for Autonomous Multi-Robot Exploration" (2014). Faculty Publications. 38.
https://research.library.fordham.edu/frcv_facultypubs/38
Comments
13th Int. Conf. on Intelligent Autonomous Systems, Padua Italy
This research was conducted at the Fordham University Robotics and Computer Vision Lab. For more information about graduate programs in Computer Science, see http://www.cis.fordham.edu/graduate.html, and the Fordham University Graduate School of Arts and Sciences, see http://www.fordham.edu/gsas.