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


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タイトル: Symbiotic Navigation in Multi-Robot Systems with Remote Obstacle Knowledge Sharing
著者: Ravankar, Abhijeet 著作を一覧する
Ravankar, Ankit A. 著作を一覧する
Kobayashi, Yukinori 著作を一覧する
Emaru, Takanori 著作を一覧する
キーワード: robot path planning
multi-robot knowledge sharing
robots in sensor network
発行日: 2017年 7月
出版者: MDPI
誌名: Sensors
巻: 17
号: 7
開始ページ: 1581
出版社 DOI: 10.3390/s17071581
抄録: 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.
資料タイプ: article
出現コレクション:雑誌発表論文等 (Peer-reviewed Journal Articles, etc)

提供者: Abhijeet Ravankar


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