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Leveraging Area Bounds Information for Autonomous Multirobot Exploration

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Intelligent Autonomous Systems 13

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 302))

Abstract

In this paper, we propose an approach, the Space-Based Potential Field (SBPF) approach, to control multiple robots for area exploration missions that focus on robot dispersion. The SBPF method is based on a potential field approach that leverages knowledge of the overall bounds of the area to be explored. This additional information allows a simpler potential field control strategy for all robots but which nonetheless has good dispersion and overlap performance in all the multirobot scenarios while avoiding potential minima. Both simulation and robot experimental results are presented as evidence.

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Acknowledgments

This research was supported by the Defense Threat Reduction Agency, Basic Research Award #HDTRA1-11-1-0038

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Authors and Affiliations

  1. Fordham University, New York, NY, 10105, USA

    Tsung-Ming Liu & Damian M. Lyons

Authors
  1. Tsung-Ming Liu
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  2. Damian M. Lyons
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Corresponding author

Correspondence to Tsung-Ming Liu .

Editor information

Editors and Affiliations

  1. Information Engineering, University of Padua, Padua, Italy

    Emanuele Menegatti

  2. Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA

    Nathan Michael

  3. Fachbereich Informatik, Technische Universität Kaiserslautern Arbeitsgruppe Robotersysteme, Kaiserslautern, Germany

    Karsten Berns

  4. Integrated Information Technology, Aoyama Gakuin University, Tokyo, Japan

    Hiroaki Yamaguchi

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© 2016 Springer International Publishing Switzerland

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Liu, TM., Lyons, D.M. (2016). Leveraging Area Bounds Information for Autonomous Multirobot Exploration. In: Menegatti, E., Michael, N., Berns, K., Yamaguchi, H. (eds) Intelligent Autonomous Systems 13. Advances in Intelligent Systems and Computing, vol 302. Springer, Cham. https://doi.org/10.1007/978-3-319-08338-4_42

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  • DOI: https://doi.org/10.1007/978-3-319-08338-4_42

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-08337-7

  • Online ISBN: 978-3-319-08338-4

  • eBook Packages: EngineeringEngineering (R0)

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