Swarm Based Construction of Large Scale Maze-Like Environments

Raphael Maas; Erik Maehle

2nd International ICST Conference on Robot Communication and Coordination

Research Article

Swarm Based Construction of Large Scale Maze-Like Environments

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@INPROCEEDINGS{10.4108/ICST.ROBOCOMM2009.5831,
    author={Raphael Maas and Erik Maehle},
    title={Swarm Based Construction of Large Scale Maze-Like Environments},
    proceedings={2nd International ICST Conference on Robot Communication and Coordination},
    proceedings_a={ROBOCOMM},
    year={2009},
    month={5},
    keywords={Terms---multi-robot cooperation mapping localization},
    doi={10.4108/ICST.ROBOCOMM2009.5831}
}

Raphael Maas
Erik Maehle
Year: 2009
Swarm Based Construction of Large Scale Maze-Like Environments
ROBOCOMM
ICST
DOI: 10.4108/ICST.ROBOCOMM2009.5831

Raphael Maas¹^,*, Erik Maehle¹^,*

1: Institute of Computer Engineering University of L¨ubeck Ratzeburger Allee 160 23538 L¨ubeck Germany

*Contact email: maas@iti.uni-luebeck.de, maehle@iti.uni-luebeck.de

Abstract

t—This paper presents two approaches to pattern based exploration and mapping of large scale, maze-like environments. These approaches fit the needs of single robot as well as multirobot exploration. A further aspect is the subsequent localization of participating robots within previously generated maps. The construction of these maps relies mostly on the extraction and merging of environmental describing patterns. Two different algorithmic solutions are presented within this work. Both solutions were evaluated by either real hardware implementations or exhaustive simulations.

Keywords: Terms—multi-robot cooperation mapping localization

Published: 2009-05-19
Modified: 2010-05-16

: http://dx.doi.org/10.4108/ICST.ROBOCOMM2009.5831