Haumann, Dominik (2015)
Distributed Multi-Robot Exploration.
Buch, Erstveröffentlichung
Kurzbeschreibung (Abstract)
This dissertation introduces the DisCoverage paradigm. DisCoverage describes a novel scheme for distributed multi-robot exploration. The objective of the multi-robot exploration problem is to explore and map an a priori unknown environment as quick as possible with a group of autonomous robots. DisCoverage solves this problem through effective coordination of the group, such that the robots simultaneously explore different parts of the environment. In contrast to existing approaches, DisCoverage provides a distributed solution to the multi-robot exploration problem: Robots communicate and exchange data only with robots in the respective neighborhood, such that no central coordinating unit is required. As a result, the local data exchange among the robots allows the group to globally act as one team, facilitating robust and efficient exploration of the entire environment.
| Typ des Eintrags: | Buch | ||||
|---|---|---|---|---|---|
| Erschienen: | 2015 | ||||
| Autor(en): | Haumann, Dominik | ||||
| Art des Eintrags: | Erstveröffentlichung | ||||
| Titel: | Distributed Multi-Robot Exploration | ||||
| Sprache: | Englisch | ||||
| Referenten: | Adamy, Prof. Dr. Jürgen ; Roth, Prof. Stefan | ||||
| Publikationsjahr: | 2015 | ||||
| Ort: | Darmstadt | ||||
| Datum der mündlichen Prüfung: | 2 Juli 2014 | ||||
| URL / URN: | http://tuprints.ulb.tu-darmstadt.de/5138 | ||||
| Kurzbeschreibung (Abstract): | This dissertation introduces the DisCoverage paradigm. DisCoverage describes a novel scheme for distributed multi-robot exploration. The objective of the multi-robot exploration problem is to explore and map an a priori unknown environment as quick as possible with a group of autonomous robots. DisCoverage solves this problem through effective coordination of the group, such that the robots simultaneously explore different parts of the environment. In contrast to existing approaches, DisCoverage provides a distributed solution to the multi-robot exploration problem: Robots communicate and exchange data only with robots in the respective neighborhood, such that no central coordinating unit is required. As a result, the local data exchange among the robots allows the group to globally act as one team, facilitating robust and efficient exploration of the entire environment. |
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| Alternatives oder übersetztes Abstract: |
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| Freie Schlagworte: | multi-robot exploration, distributed optimization, distributed systems, coverage problem | ||||
| URN: | urn:nbn:de:tuda-tuprints-51384 | ||||
| Sachgruppe der Dewey Dezimalklassifikatin (DDC): | 600 Technik, Medizin, angewandte Wissenschaften > 620 Ingenieurwissenschaften und Maschinenbau | ||||
| 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) |
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| Hinterlegungsdatum: | 23 Okt 2016 19:55 | ||||
| Letzte Änderung: | 23 Okt 2016 19:55 | ||||
| PPN: | |||||
| Referenten: | Adamy, Prof. Dr. Jürgen ; Roth, Prof. Stefan | ||||
| Datum der mündlichen Prüfung / Verteidigung / mdl. Prüfung: | 2 Juli 2014 | ||||
| Export: | |||||
| Suche nach Titel in: | TUfind oder in Google | ||||
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