Exploration and Search with Cooperative Mobile Robots

Ole Fink Hansen, Nils Axel Andersen, Ole Ravn

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

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A solution to the exploration and search task for multiple, heterogeneous, mobile robots is presented. The robots build a map of the environment using low-cost IR range finders and search the mapped area for objects of interest using vision.
Communication is carried out on a P2P (Peer-To-Peer) network for fault tolerance. The P2P network is based on the JXTA framework and robots can join and leave the team dynamically. The robots are coordinated such that they distribute
themselves in the environment without relying on a central agent. The solution has been tested on real mobile robots and simulated. The software is running locally on the robots, i.e. on low-end PCs. The result of the simulation shows that the
software scales to a large number of robots. In this context we will focus on the mapping and coordination, which are considered the key contribution.
Original languageEnglish
Title of host publicationProceedings of the International Symposium on Robotics, ISR
Number of pages7
Publication date2005
Publication statusPublished - 2005
EventInternational Symposium on Robotics, ISR - Tokyo, Japan
Duration: 1 Jan 2006 → …


ConferenceInternational Symposium on Robotics, ISR
CityTokyo, Japan
Period01/01/2006 → …


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