Optimization based coordinated UGV-MAV exploration for 2D augmented mapping

Authors:
Ayush Dewan;Aravindh Mahendran;Nikhil Soni;Madhava Krishna
Affiliations:
International Institute of Information Technology, Hyderabad, India;International Institute of Information Technology, Hyderabad, India;International Institute of Information Technology, Hyderabad, India;International Institute of Information Technology, Hyderabad, India
Venue:
Proceedings of the 2013 international conference on Autonomous agents and multi-agent systems
Year:
2013

Citing 3
Cited 0

Parallel Tracking and Mapping for Small AR Workspaces

ISMAR '07 Proceedings of the 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality
On fast exploration in 2D and 3D terrains with multiple robots

Proceedings of The 8th International Conference on Autonomous Agents and Multiagent Systems - Volume 1
Coordinated multi-robot exploration

IEEE Transactions on Robotics

Quantified Score

Hi-index	0.00

Visualization

Abstract

This paper presents a novel optimization formulation for coordinated exploration between unmanned ground vehicles (UGV) and micro-aerial vehicles (MAV). The exploration is posed as an Integer Programming (IP) problem and the allotment of these vehicles(agents) to frontier locations is specified as an integer constraint. The optimization provides a one shot solution for the allotment of all such active agents to possible frontier locations thereby guaranteeing substantial performance gain over previous approaches where the allotment proceeds in an incremental fashion. We also show a practical realization of such an exploration where an UGV-MAV team efficiently builds a map of an indoor environment.