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Symbiotic Navigation in Multi-Robot Systems with Remote Obstacle Knowledge Sharing

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Title: Symbiotic Navigation in Multi-Robot Systems with Remote Obstacle Knowledge Sharing
Authors: Ravankar, Abhijeet Browse this author
Ravankar, Ankit A. Browse this author
Kobayashi, Yukinori Browse this author →KAKEN DB
Emaru, Takanori Browse this author →KAKEN DB
Keywords: robot path planning
multi-robot knowledge sharing
robots in sensor network
Issue Date: Jul-2017
Publisher: MDPI
Journal Title: Sensors
Volume: 17
Issue: 7
Start Page: 1581
Publisher DOI: 10.3390/s17071581
Abstract: Large scale operational areas often require multiple service robots for coverage and task parallelism. In such scenarios, each robot keeps its individual map of the environment and serves specific areas of the map at different times. We propose a knowledge sharing mechanism for multiple robots in which one robot can inform other robots about the changes in map, like path blockage, or new static obstacles, encountered at specific areas of the map. This symbiotic information sharing allows the robots to update remote areas of the map without having to explicitly navigate those areas, and plan efficient paths. A node representation of paths is presented for seamless sharing of blocked path information. The transience of obstacles is modeled to track obstacles which might have been removed. A lazy information update scheme is presented in which only relevant information affecting the current task is updated for efficiency. The advantages of the proposed method for path planning are discussed against traditional method with experimental results in both simulation and real environments.
Type: article
Appears in Collections:工学院・工学研究院 (Graduate School of Engineering / Faculty of Engineering) > 雑誌発表論文等 (Peer-reviewed Journal Articles, etc)

Submitter: Abhijeet Ravankar

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