TU Darmstadt / ULB / TUbiblio

DisCoverage: From Coverage to Distributed Multi-Robot Exploration

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
Export:

Optionen (nur für Redakteure)

Eintrag anzeigen Eintrag anzeigen