Exploration and Search with Cooperative Mobile Robots

Ole Fink Hansen, Nils Axel Andersen, Ole Ravn

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    Abstract

    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 → …

    Conference

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

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