Coordinated multi-agent exploration

4th Latin American Workshop on Non-Monotonic Reasoning 2008

Abraham S¶anchez L. ; Alfredo Toriz P.

Others  :  http://CEUR-WS.org/Vol-408/Paper08.pdf
PID  :  25290

来源: CEUR

【 摘 要 】

Many successful robotic systems use maps of the environ-ment to perform their tasks. In this paper, we propose a cooperative exploration strategy for multi-agent robots. This proposal is a para- llelization of the basic SRT method, the following functionalities were added to it: cooperation to increase the e±ciency, coordination to avoid con°icts and communication to cooperate and to coordinate. The goal in robot exploration must be to minimize the overall exploration time, and multiple robots produce more accurate maps by merging overlapping information that helps to stabilize the sensor uncertainty and to reach the goal. We present simulation results to show the performance of the