On Benchmarking of Frontier-Based Multi-Robot Exploration Strategies
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F15%3A00236085" target="_blank" >RIV/68407700:21230/15:00236085 - isvavai.cz</a>
Alternative codes found
RIV/68407700:21730/15:00236085
Result on the web
<a href="https://doi.org/10.1109/ECMR.2015.7324183" target="_blank" >https://doi.org/10.1109/ECMR.2015.7324183</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ECMR.2015.7324183" target="_blank" >10.1109/ECMR.2015.7324183</a>
Alternative languages
Result language
angličtina
Original language name
On Benchmarking of Frontier-Based Multi-Robot Exploration Strategies
Original language description
This paper tackles an evaluation and comparison of frontier-based exploration strategies to create a grid map of unknown environment by a team of autonomous mobile robots. A strategy is considered as a set of procedures to determine promising goal candidates, allocate them to the robots, and select the next navigational goal for each robot. A mobile robot is a complex system with many components that affect the mission performance and a comparison of different strategies in real experiments can be performed only for a particular system setup and with only partial controllability of important parameters. Therefore, the reproducibility and repeatability of such a comparison are not satisfied. In this paper, we propose a methodology for evaluating exploration strategies and provide a benchmark for a comparison of frontier-based approaches in a well-defined evaluation environment. The proposed methodology is demonstrated on a comparison of five state-of-the-art task-allocation strategies in multi-robot exploration.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
<a href="/en/project/GJ15-09600Y" target="_blank" >GJ15-09600Y: Adaptive Informative Path Planning in Autonomous Data Collection in Dynamic Unstructured Environments</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2015
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of the European Conference on Mobile Robots 2015
ISBN
978-1-4673-9163-4
ISSN
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e-ISSN
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Number of pages
8
Pages from-to
1-8
Publisher name
IEEE
Place of publication
Piscataway
Event location
Lincoln
Event date
Sep 2, 2015
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000380213600017