Collaboration among Members of a Team: a Heuristic Strategy for Multi-Robot Exploration

In recent years, there has been considerable interest in the control of cooperative multi robot systems. The paper purposes a general formulation of the collaboration problem for a team of mobile robots. An application of the formulation is presented illustrating a heuristic strategy for collaborative exploration of a given unknown environment by means of a team of N robots with exploration capabilities

[1]  Massimo Paolucci,et al.  Information-based multi-agent exploration , 2002, Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02..

[2]  Brian Yamauchi,et al.  A frontier-based approach for autonomous exploration , 1997, Proceedings 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation CIRA'97. 'Towards New Computational Principles for Robotics and Automation'.

[3]  Wei Li,et al.  Stability properties of a receding horizon controller for cooperating UAVs , 2004, 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601).

[4]  Héctor H. González-Baños,et al.  Navigation Strategies for Exploring Indoor Environments , 2002, Int. J. Robotics Res..

[5]  Jing Ren,et al.  A hybrid-systems approach to potential field navigation for a multi-robot team , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[6]  Brian Yamauchi,et al.  Decentralized coordination for multirobot exploration , 1999, Robotics Auton. Syst..

[7]  David A. Schoenwald,et al.  Decentralized control of cooperative robotic vehicles: theory and application , 2002, IEEE Trans. Robotics Autom..

[8]  Yiming Ye.  How much should an agent know what other agents are doing in a cooperative team? , 1998, Proceedings International Conference on Multi Agent Systems (Cat. No.98EX160).

[9]  Wolfram Burgard,et al.  Coordinated multi-robot exploration , 2005, IEEE Transactions on Robotics.

[10]  Shuzhi Sam Ge,et al.  Complete Multi-Robot Coverage of Unknown Environments with Minimum Repeated Coverage , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[11]  Francesco Amigoni,et al.  A Multi-Objective Exploration Strategy for Mobile Robots , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[12]  Nicholas R. Jennings,et al.  Socially intelligent reasoning for autonomous agents , 2001, IEEE Trans. Syst. Man Cybern. Part A.

[13]  Paolo Valigi,et al.  Collaborative exploration for a team of mobile robots: Centralized and decentralized strategies , 2004 .