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Distributed Multi-Robot Exploration

Haumann, Dominik (2015):
Distributed Multi-Robot Exploration.
Darmstadt, [Book]

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.

Item Type: Book
Erschienen: 2015
Creators: Haumann, Dominik
Title: Distributed Multi-Robot Exploration
Language: English
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.
Place of Publication: Darmstadt
Uncontrolled Keywords: multi-robot exploration, distributed optimization, distributed systems, coverage problem
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 (from 01.08.2022 renamed Control Methods and Intelligent Systems)
Date Deposited: 23 Oct 2016 19:55
URL / URN: http://tuprints.ulb.tu-darmstadt.de/5138
URN: urn:nbn:de:tuda-tuprints-51384
PPN:
Referees: Adamy, Prof. Dr. Jürgen ; Roth, Prof. Stefan
Refereed / Verteidigung / mdl. Prüfung: 2 July 2014
Alternative Abstract:
Alternative abstract Language

In der vorliegenden Dissertation wird das DisCoverage-Paradigma vorgestellt. Dieses Paradigma beschreibt ein neuartiges allgemeines Schema zur verteilten Multi-Roboter-Exploration. Ziel der Multi-Roboter-Exploration ist es, mittels einer Gruppe autonom agierender Roboter eine vorab un bekannte Umgebung zu erforschen und eine Karte in möglichst kurzer Zeit zu erstellen. DisCoverage erfüllt diese Forderung durch eine effektive Koordinierung der Roboter, sodass die Roboter unterschiedliche Bereiche der unbekannten Umgebung erkunden. Gegenüber existierenden Verfahren liegt der wesentliche Vorteil von DisCoverage darin, dass der Explorations-Prozess verteilt abläuft: Die Roboter kommunizieren lediglich mit ihren nächsten Nachbarn, sodass keine zentrale Instanz zur Koordinierung benötigt wird. Somit wird durch ausschließlich lokaler Interaktion mit der Umgebung und lokaler Kommunikation zwischen Nachbarn ein globales Verhalten der Gruppe erzielt, welches zu robuster vollständiger Exploration der unbekannten Umgebung führt.

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