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DisCoverage: From Coverage to Distributed Multi-Robot Exploration

Haumann, Dominik and Willert, Volker and Listmann, Kim D. (2013):
DisCoverage: From Coverage to Distributed Multi-Robot Exploration.
In: Proceedings of the 4th IFAC Workshop on Distributed Estimation and Control in Networked Systems, In: 4th IFAC Workshop on Distributed Estimation and Control in Networked Systems, Koblenz, Germany, 25.-26. Sep. , 4, [Conference or Workshop Item]

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.

Item Type: Conference or Workshop Item
Erschienen: 2013
Creators: Haumann, Dominik and Willert, Volker and Listmann, Kim D.
Title: DisCoverage: From Coverage to Distributed Multi-Robot Exploration
Language: English
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.

Title of Book: Proceedings of the 4th IFAC Workshop on Distributed Estimation and Control in Networked Systems
Volume: 4
Divisions: 18 Department of Electrical Engineering and Information Technology
18 Department of Electrical Engineering and Information Technology > Institut für Automatisierungstechnik und Mechatronik
18 Department of Electrical Engineering and Information Technology > Institut für Automatisierungstechnik und Mechatronik > Control Methods and Robotics
Event Title: 4th IFAC Workshop on Distributed Estimation and Control in Networked Systems
Event Location: Koblenz, Germany
Event Dates: 25.-26. Sep.
Date Deposited: 15 Oct 2013 10:02
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