Haumann, Dominik ; Willert, Volker ; Listmann, Kim D. (2013):
DisCoverage: From Coverage to Distributed Multi-Robot Exploration.
4, In: Proceedings of the 4th IFAC Workshop on Distributed Estimation and Control in Networked Systems, pp. 328-335,
4th IFAC Workshop on Distributed Estimation and Control in Networked Systems, Koblenz, Germany, 25.-26. Sep. , [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 ; Willert, Volker ; 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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