Multi-robot Exploration Using Multi-agent Approach

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F07%3A03132054" target="_blank" >RIV/68407700:21230/07:03132054 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Result language
angličtina
Original language name
Multi-robot Exploration Using Multi-agent Approach
Original language description
The paper deals with a problem of exploring an unknown environment by a team of mobile robots. Widely used approach in the robotic community is frontier based exploration. We combine this technique with a multi-agent architecture A-globe, which allows solving the exploration problem with limited communication accessibility and with changing number of participating robots. Frontier based approach heavily depends on path planning algorithm. A novel method combining A* search with harmonic potential fieldsis also presented. Finally, the Iterative Closest Point localization algorithm has been improved in several ways, in order to increase its speed and robustness. The whole exploration framework has been implemented and tested in both simulated and real environments.
Czech name
Multi-roboticka explorace multi-agentnim pristupem
Czech description
Clanek se zabyva problemem prohledavani neznameho prostredi tymem mobilnich robotu.

Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>Z - Vyzkumny zamer (s odkazem do CEZ)

Publication year
2007
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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