Haumann, Dominik ; Willert, Volker ; Listmann, Kim D.
:
DisCoverage: From Coverage to Distributed Multi-Robot Exploration.
In: 4th IFAC Workshop on Distributed Estimation and Control in Networked Systems, 25.-26. Sep. , Koblenz, Germany.
Proceedings of the 4th IFAC Workshop on Distributed Estimation and Control in Networked Systems
[Konferenz- oder Workshop-Beitrag], (2013)
Kurzbeschreibung (Abstract)
DisCoverage transfers the well-known solution to the coverage problem to the exploration problem. Essentially, DisCoverage solves the multi-robot exploration problem through a spatially distributed optimization problem. Our contribution is a new objective function for DisCoverage based on the centroidal search. Each robot continuously creates and optimizes the proposed objective function, obtaining a gradient-based control law that leads into unexplored regions. A proof of convergence is given as well as a simulation and a statistical evaluation demonstrating DisCoverage.
| Typ des Eintrags: | Konferenz- oder Workshop-Beitrag (Keine Angabe) |
|---|---|
| Erschienen: | 2013 |
| Autor(en): | Haumann, Dominik ; Willert, Volker ; Listmann, Kim D. |
| Titel: | DisCoverage: From Coverage to Distributed Multi-Robot Exploration |
| Sprache: | Englisch |
| Kurzbeschreibung (Abstract): | DisCoverage transfers the well-known solution to the coverage problem to the exploration problem. Essentially, DisCoverage solves the multi-robot exploration problem through a spatially distributed optimization problem. Our contribution is a new objective function for DisCoverage based on the centroidal search. Each robot continuously creates and optimizes the proposed objective function, obtaining a gradient-based control law that leads into unexplored regions. A proof of convergence is given as well as a simulation and a statistical evaluation demonstrating DisCoverage. |
| Buchtitel: | Proceedings of the 4th IFAC Workshop on Distributed Estimation and Control in Networked Systems |
| Band: | 4 |
| Fachbereich(e)/-gebiet(e): | Fachbereich Elektrotechnik und Informationstechnik Fachbereich Elektrotechnik und Informationstechnik > Institut für Automatisierungstechnik Fachbereich Elektrotechnik und Informationstechnik > Institut für Automatisierungstechnik > Regelungsmethoden und Robotik |
| Veranstaltungstitel: | 4th IFAC Workshop on Distributed Estimation and Control in Networked Systems |
| Veranstaltungsort: | Koblenz, Germany |
| Veranstaltungsdatum: | 25.-26. Sep. |
| Hinterlegungsdatum: | 15 Okt 2013 10:02 |
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