On Benchmarking of Frontier-Based Multi-Robot Exploration Strategies

Kód výsledku v 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>

Nalezeny alternativní kódy

RIV/68407700:21730/15:00236085

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

On Benchmarking of Frontier-Based Multi-Robot Exploration Strategies

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

On Benchmarking of Frontier-Based Multi-Robot Exploration Strategies

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

<a href="/cs/project/GJ15-09600Y" target="_blank" >GJ15-09600Y: Adaptivní plánování v úlohách autonomního sběru dat v nestrukturovaném prostředí</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2015

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Proceedings of the European Conference on Mobile Robots 2015

ISBN

978-1-4673-9163-4

ISSN

—

e-ISSN

—

Počet stran výsledku

8

Strana od-do

1-8

Název nakladatele

IEEE

Místo vydání

Piscataway

Místo konání akce

Lincoln

Datum konání akce

2. 9. 2015

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000380213600017