1st Workshop on Wireless Multihop Communications in Networked Robotics

Research Article

Including communication success in the estimation of information gain for multi-robot exploration

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  • @INPROCEEDINGS{10.4108/ICST.WIOPT2008.3218,
        author={Arnoud Visser and Bayu A. Slamet},
        title={Including communication success in the estimation of information gain for multi-robot exploration},
        proceedings={1st Workshop on Wireless Multihop Communications in Networked Robotics},
        publisher={IEEE},
        proceedings_a={WMCNR},
        year={2008},
        month={8},
        keywords={Collaboration Control design Costs Gain measurement Intelligent robots Intelligent systems Robot kinematics Robust control Simultaneous localization and mapping Time factors},
        doi={10.4108/ICST.WIOPT2008.3218}
    }
    
  • Arnoud Visser
    Bayu A. Slamet
    Year: 2008
    Including communication success in the estimation of information gain for multi-robot exploration
    WMCNR
    IEEE
    DOI: 10.4108/ICST.WIOPT2008.3218
Arnoud Visser1, Bayu A. Slamet1
  • 1: Intelligent Systems Laboratorium Amsterdam, Universiteit van Amsterdam (UvA), Kruislaan 403, 1098 SJ, Amsterdam, The Netherlands. http://www.science.uva.nl/research/isla

Abstract

This article investigates the effect of incorporating knowledge about the communication possibilities in an exploration algorithm used to map an unknown environment. The mission is to explore a hypothetical disaster site with a small team of robots. The challenge faced by the robot team is to coordinate their actions such that they efficiently explore the environment in their search for victims. The coordination can only be optimal when the robots share the same map. With a limited communication range the map cannot be shared in all circumstances. This article concentrates on the effect of a distributed map, where each robot has only has knowledge of a part of the global map and has no guaranteed connection to the other robot or the operator.