Haumann, Dominik ; Willert, Volker ; Listmann, Kim D. (2013)
DisCoverage: From Coverage to Distributed Multi-Robot Exploration.
4th IFAC Workshop on Distributed Estimation and Control in Networked Systems. Koblenz, Germany (25.-26. Sep. )
doi: 10.3182/20130925-2-DE-4044.00009
Konferenzveröffentlichung, Bibliographie
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: | Konferenzveröffentlichung |
|---|---|
| Erschienen: | 2013 |
| Autor(en): | Haumann, Dominik ; Willert, Volker ; Listmann, Kim D. |
| Art des Eintrags: | Bibliographie |
| Titel: | DisCoverage: From Coverage to Distributed Multi-Robot Exploration |
| Sprache: | Englisch |
| Publikationsjahr: | 25 September 2013 |
| Buchtitel: | Proceedings of the 4th IFAC Workshop on Distributed Estimation and Control in Networked Systems |
| Band einer Reihe: | 4 |
| Veranstaltungstitel: | 4th IFAC Workshop on Distributed Estimation and Control in Networked Systems |
| Veranstaltungsort: | Koblenz, Germany |
| Veranstaltungsdatum: | 25.-26. Sep. |
| DOI: | 10.3182/20130925-2-DE-4044.00009 |
| URL / URN: | https://www.sciencedirect.com/science/article/pii/S147466701... |
| 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. |
| Fachbereich(e)/-gebiet(e): | 18 Fachbereich Elektrotechnik und Informationstechnik 18 Fachbereich Elektrotechnik und Informationstechnik > Institut für Automatisierungstechnik und Mechatronik 18 Fachbereich Elektrotechnik und Informationstechnik > Institut für Automatisierungstechnik und Mechatronik > Regelungsmethoden und Robotik (ab 01.08.2022 umbenannt in Regelungsmethoden und Intelligente Systeme) |
| Hinterlegungsdatum: | 15 Okt 2013 10:02 |
| Letzte Änderung: | 06 Mär 2023 14:24 |
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