New exploration strategy for cooperative mobile robots

Authors:
Mohammad Al Khawaldah;Ibrahim Al-Adwan;Khaled Eid
Affiliations:
Mechatronics Engineering Department, Al-Ballqa Applied University, Amman, Jordan;Mechatronics Engineering Department, Al-Ballqa Applied University, Amman, Jordan;Mechatronics Engineering Department, Al-Ballqa Applied University, Amman, Jordan
Venue:
EHAC'12/ISPRA/NANOTECHNOLOGY'12 Proceedings of the 11th WSEAS international conference on Electronics, Hardware, Wireless and Optical Communications, and proceedings of the 11th WSEAS international conference on Signal Processing, Robotics and Automation, and proceedings of the 4th WSEAS international conference on Nanotechnology
Year:
2012

Citing 9
Cited 0

Frontier-based exploration using multiple robots

AGENTS '98 Proceedings of the second international conference on Autonomous agents
Cooperative Mobile Robotics: Antecedents and Directions

Autonomous Robots
Coordination for Multi-Robot Exploration and Mapping

Proceedings of the Seventeenth National Conference on Artificial Intelligence and Twelfth Conference on Innovative Applications of Artificial Intelligence
Distributed multi-robot coordination in area exploration

Robotics and Autonomous Systems
Distributed multi-robot coordination in area exploration

Robotics and Autonomous Systems
Agent-based tools for modeling and simulation of self- organization in peer-to-peer, ad hoc, and other complex networks

IEEE Communications Magazine
Weight parameters tuning for frontier-based cooperating robots exploration

ISPRA'10 Proceedings of the 9th WSEAS international conference on Signal processing, robotics and automation
Exploration strategies for a robot with a continously rotating 3D scanner

SIMPAR'10 Proceedings of the Second international conference on Simulation, modeling, and programming for autonomous robots
Coordinated multi-robot exploration

IEEE Transactions on Robotics

Quantified Score

Hi-index	0.00

Visualization

Abstract

In this paper, a frontier-based technique is used with team of cooperating mobile robots to explore unknown environment. The aim is to decrease the exploration time. The exploration algorithm explicitly coordinates the robots. It tries to maximize overall utility by minimizing the potential of overlap in information gain amongst the robots. The proposed frontier-based exploration algorithm is based on a new bidding function in which a special parameter was introduced to decrease the overlap between the robots in addition to the utility and cost parameters. The special parameter depends on the future positions of the robots. The proposed algorithm has been tested with different environments. The new technique led to promising results.