A hybrid system for multi-agent exploration

This paper describes a multi-agent system that performs exploration and target seeking. A bidding scheme is applied to obtain assistance and cooperation between the mobile robots. An occupancy grid-based map and laser sensors are used for mapping. Frontier based exploration is implemented to determine unexplored areas to search. Targets are identified by designated colours in the vision sensors. Wave front propagation is used for path planning to both the frontiers and the targets. Fuzzy logic is applied to the laser readings to perform collision avoidance.

[1]  A. Fujimori,et al.  Navigation and path-planning of mobile robots with real-time map-building , 2002, 2002 IEEE International Conference on Industrial Technology, 2002. IEEE ICIT '02..

[2]  Charles E. Thorpe,et al.  Combining multiple goals in a behavior-based architecture , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.

[4]  Don Ray Murray,et al.  Stereo vision based mapping and navigation for mobile robots , 1997, Proceedings of International Conference on Robotics and Automation.

[5]  Brian Yamauchi,et al.  Frontier-based exploration using multiple robots , 1998, AGENTS '98.

[6]  Daniel Toal,et al.  A Fuzzy Logic Based Navigation System for a Mobile Robot , 2000 .

[7]  N. H. C. Yung,et al.  A fuzzy controller with supervised learning assisted reinforcement learning algorithm for obstacle avoidance , 2003, IEEE Trans. Syst. Man Cybern. Part B.

[8]  Wolfram Burgard,et al.  Collaborative multi-robot exploration , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[9]  N. Shimkin,et al.  Behavior-based navigation for an indoor mobile robot , 2000, 21st IEEE Convention of the Electrical and Electronic Engineers in Israel. Proceedings (Cat. No.00EX377).

[10]  Didier Dubois,et al.  Possibility theory in constraint satisfaction problems: Handling priority, preference and uncertainty , 1996, Applied Intelligence.

[11]  Ronald C. Arkin,et al.  Combining deliberation, reactivity, and motivation in the context of a behavior-based robot architecture , 2001, Proceedings 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation (Cat. No.01EX515).

[12]  Wolfram Burgard,et al.  Coordination for Multi-Robot Exploration and Mapping , 2000, AAAI/IAAI.

[13]  Dimiter Driankov,et al.  A Reminder on Fuzzy Logic , 2001 .