COMPARISON OF CLASSICAL AND INTERACTIVE MULTI-ROBOT EXPLORATION STRATEGIES IN POPULATED ENVIRONMENTS

Acta Polytechnica

François Charpillet¹  Olivier Simonin²  Nassim Kalde¹ 

[1] Inria, Villers-lès-Nancy, 54600, FranceUniversité de Lorraine, LORIA, UMR 7503, Vandoeuvre-lès-Nancy, 54506, FranceCNRS, LORIA, UMR 7503, Vandoeuvre-lès-Nancy, 54506, France;CITI-Inria Laboratory, INSA Lyon, 69621 Villeurbanne, France

关键词: artificial intelligence;    multi-agent system;    robotic exploration;    human-robot interaction;   

DOI  :  

来源: Czech Technical University in Prague, Faculty of M

【 摘 要 】

Multi-robot exploration consists in coordinating robots for mapping an unknown environment. It raises several issues concerning task allocation, robot control, path planning and communication. We study exploration in populated environments, in which pedestrian flows can severely impact performances. However, humans have adaptive skills for taking advantage of these flows while moving. Therefore, in order to exploit these human abilities, we propose a novel exploration strategy that explicitly allows for human-robot interactions. Our model for exploration in populated environments combines the classical frontier-based strategy with our interactive approach. We implement interactions where robots can locally choose a human guide to follow and define a parametric heuristic to balance interaction and frontier assignments. Finally, we evaluate to which extent human presence impacts our exploration model in terms of coverage ratio, travelled distance and elapsed time to completion.

【 授权许可】

Unknown