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Multi-robot Deployment using Topological Maps

delete2017-01-26
delete15
PRE
AI
R
Reza Javanmard Alitappeh
G
Guilherme A. S. Pereira
A
Arthur R. Araújo
L
Luciano C. A. Pimenta *
DOI：10.1007/s10846-017-0471-3delete
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摘要

摘要

En 中文
本文提出了一种有效的分布式部署策略，以在可以用拓扑图表示的环境中优化分配机器人团队。我们的解决方案的几个应用包括感测和覆盖大型走廊建筑物，如医院和学校，以及在大城市街道上最佳放置服务车辆。将环境表示为拓扑图将原始的二维或三维问题转换为一维的简化问题，从而降低了解决方案的计算成本。此外，每个机器人都可以通过简单地遵循一系列直观的、类似人类的命令来到达其最终位置，而不需要全局度量定位，这也简化了机器人控制。除了为我们的方法提供收敛性证明外，本文还提供了模拟和真实世界的实验来说明和验证我们的方法。
Keyword:
Multi-robot deployment
Topological map
Multi-robot coverage
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期刊

J
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
IF:
2.8
论文数:
3.8K
被引数:
6.9K

机构

U
Universidade Federal de Minas Gerais
学者数:
2.5W
论文数: 1.5W
被引数: 1.4W
U
university of science & technology of mazandaran
学者数:
206
论文数: 220
被引数: 1
引用论文

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