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Mapping and exploration in a hierarchical heterogeneous multi-robot system using limited capability robots

Chand, Praneel and Carnegie, D.A. (2013) Mapping and exploration in a hierarchical heterogeneous multi-robot system using limited capability robots. Robotics and Autonomous Systems, 61 (6). pp. 565-579. ISSN 0921-8890

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Abstract

This paper focusses on the development of a customised mapping and exploration task for a heterogeneous ensemble of mobile robots. Many robots in the team may have limited processing and sensing abilities. This means that each robot may not be able to execute all components of the mapping and exploration task. A hierarchical system is proposed that consists of computationally powerful robots (managers) at the upper level and limited capability robots (workers) at the lower levels. This enables resources (such as processing) to be shared and tasks to be abstracted. The global environment containing scattered obstacles is divided into local environments by the managers for the workers to explore. Worker robots can be assigned planner and/or explorer tasks and are only made aware of information relevant to their assigned tasks.

Item Type: Journal Article
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering > Robotics and Automation
Divisions: Faculty of Science, Technology and Environment (FSTE) > School of Engineering and Physics
Depositing User: Praneel Chand
Date Deposited: 01 May 2013 09:07
Last Modified: 14 Jun 2016 14:45
URI: http://repository.usp.ac.fj/id/eprint/5677
UNSPECIFIED

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