Practical methods of optimization; (2nd ed.)
Practical methods of optimization; (2nd ed.)
Learning metric-topological maps for indoor mobile robot navigation
Artificial Intelligence
Cooperative multiagent robotic systems
Artificial intelligence and mobile robots
Mobile Robot Miniaturisation: A Tool for Investigation in Control Algorithms
The 3rd International Symposium on Experimental Robotics III
Continuous Probabilistic Mapping by Autonomous Robots
The Sixth International Symposium on Experimental Robotics VI
The CMUnited-97 Small Robot Team
RoboCup-97: Robot Soccer World Cup I
Moving furniture with teams of autonomous robots
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 1 - Volume 1
Occupancy grids: a probabilistic framework for robot perception and navigation
Occupancy grids: a probabilistic framework for robot perception and navigation
Multiagent Systems: A Survey from a Machine Learning Perspective
Autonomous Robots
Collaborative Exploration of Unknown Environments with Teams of Mobile Robots
Revised Papers from the International Seminar on Advances in Plan-Based Control of Robotic Agents,
Distributed Cooperative Outdoor Multirobot Localization and Mapping
Autonomous Robots
International Journal of Robotics Research
EURASIP Journal on Wireless Communications and Networking
A reactive agent-based problem-solving model: Application to localization and tracking
ACM Transactions on Autonomous and Adaptive Systems (TAAS)
Distributed multi-robot coordination in area exploration
Robotics and Autonomous Systems
Distributed multi-robot coordination in area exploration
Robotics and Autonomous Systems
Social Odometry in Populations of Autonomous Robots
ANTS '08 Proceedings of the 6th international conference on Ant Colony Optimization and Swarm Intelligence
Saving Energy Consumption of Multi-robots Using Higher-Order Mobile Agents
KES-AMSTA '07 Proceedings of the 1st KES International Symposium on Agent and Multi-Agent Systems: Technologies and Applications
Flexible and Efficient Use of Robot Resources Using Higher-Order Mobile Agents
Proceedings of the 2006 conference on Knowledge-Based Software Engineering: Proceedings of the Seventh Joint Conference on Knowledge-Based Software Engineering
Multi-agent robot systems as distributed autonomous systems
Advanced Engineering Informatics
Multi-robot, multi-target particle swarm optimization search in noisy wireless environments
HSI'09 Proceedings of the 2nd conference on Human System Interactions
A Multi-agent Architecture for Multi-robot Surveillance
ICCCI '09 Proceedings of the 1st International Conference on Computational Collective Intelligence. Semantic Web, Social Networks and Multiagent Systems
Mutual localization in a multi-robot system with anonymous relative position measures
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
A decentralized junction tree approach to mobile robots cooperative localization
ICIRA'10 Proceedings of the Third international conference on Intelligent robotics and applications - Volume Part I
Dynamic data driven application simulation of surface transportation systems
ICCS'06 Proceedings of the 6th international conference on Computational Science - Volume Part III
Robotic clusters: Multi-robot systems as computer clusters
Robotics and Autonomous Systems
Learning from demonstration with swarm hierarchies
Proceedings of the 11th International Conference on Autonomous Agents and Multiagent Systems - Volume 1
Speech-based formation control of the multi-robot system
Artificial Life and Robotics
Mutual localization in multi-robot systems using anonymous relative measurements
International Journal of Robotics Research
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In this article, we present the design of a team of heterogeneous, centimeter-scale robots that collaborate to map and explore unknown environments. The robots, called Millibots, are configured from modular components that include sonar and IR sensors, camera, communication, computation, and mobility modules. Robots with different configurations use their special capabilities collaboratively to accomplish a given task. For mapping and exploration with multiple robots, it is critical to know the relative positions of each robot with respect to the others. We have developed a novel localization system that uses sonar-based distance measurements to determine the positions of all the robots in the group. With their positions known, we use an occupancy grid Bayesian mapping algorithm to combine the sensor data from multiple robots with different sensing modalities. Finally, we present the results of several mapping experiments conducted by a user-guided team of five robots operating in a room containing multiple obstacles.