Comparison of exploration strategies for multi-robot search

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21730%2F15%3A00241720" target="_blank" >RIV/68407700:21730/15:00241720 - isvavai.cz</a>

Nalezeny alternativní kódy

RIV/68407700:21230/15:00241720

Výsledek na webu

<a href="https://ojs.cvut.cz/ojs/index.php/ap/article/view/AP.2015.55.0162" target="_blank" >https://ojs.cvut.cz/ojs/index.php/ap/article/view/AP.2015.55.0162</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.14311/AP.2015.55.0162" target="_blank" >10.14311/AP.2015.55.0162</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Comparison of exploration strategies for multi-robot search

Popis výsledku v původním jazyce

Searching for a stationary object in an unknown environment can be formulated as an iterative procedure consisting of map updating, selection of a next goal and navigation to this goal. It finishes when the object of interest is found. This formulation and a general search structure is similar to the related exploration problem. The only difference is in goal-selection, as search and exploration objectives are not the same. Although search is a key task in many search and rescue scenarios, the robotics community has paid little attention to the problem. There is no goal-selection strategy that has been designed specifically for search. In this paper, we study four state-of-the-art strategies for multi-robot exploration, and we evaluate their performance in various environments with respect to the expected time needed to find an object, i.e. to achieve the objective of the search.

Název v anglickém jazyce

Comparison of exploration strategies for multi-robot search

Popis výsledku anglicky

Searching for a stationary object in an unknown environment can be formulated as an iterative procedure consisting of map updating, selection of a next goal and navigation to this goal. It finishes when the object of interest is found. This formulation and a general search structure is similar to the related exploration problem. The only difference is in goal-selection, as search and exploration objectives are not the same. Although search is a key task in many search and rescue scenarios, the robotics community has paid little attention to the problem. There is no goal-selection strategy that has been designed specifically for search. In this paper, we study four state-of-the-art strategies for multi-robot exploration, and we evaluate their performance in various environments with respect to the expected time needed to find an object, i.e. to achieve the objective of the search.

Druh

J_x - Nezařazeno - Článek v odborném periodiku (Jimp, Jsc a Jost)

CEP obor

JC - Počítačový hardware a software

OECD FORD obor

—

Projekt

<a href="/cs/project/TE01020197" target="_blank" >TE01020197: Centrum aplikované kybernetiky 3</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 periodika

Acta Polytechnica

ISSN

1210-2709

e-ISSN

—

Svazek periodika

55

Číslo periodika v rámci svazku

3

Stát vydavatele periodika

CZ - Česká republika

Počet stran výsledku

7

Strana od-do

162-168

Kód UT WoS článku

—

EID výsledku v databázi Scopus

2-s2.0-84936098058