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Map Acquisition in Multi-Robot Systems based on Time Shared Scheduling

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Distributed Autonomous Robotic Systems 5

Abstract

In this paper, we propose a map acquisition method in multi-robot systems. Distance information for robot’s surrounding environment is very useful to acquire environmental maps and plan robot’s paths. However it is difficult for active sensors, such as ultrasonic sensors, to measure distances accurately in an environment in which multiple robots exist because emissions from the sensors interfere each other. An exclusive operation of emission for the sensors is one of solutions to avoid interference of the emission, when a robot measures distances for its surrounding objects in such environment. We have already proposed the time shared scheduling to make synchronization between sensors for achieving the exclusive operation using local communication. In this paper, we introduce the occupancy grid method and propose map acquisition method in multi-robot systems based on the time shared scheduling. After a concept of the time shared scheduling to make synchronization, the environmental map acquisition method based on the scheduling is described. A computational simulation is conducted to show efficiency of proposed method.

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References

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Author information

Authors and Affiliations

  1. Iwate Prefectural University, Sugo 152-52, Takizawa, Iwate, 020-0173, Japan

    Yoshikazu Arai

  2. The Institute of Physical and Chemical Research (RIKEN), Hirosawa 2-1, Wako, Saitama, 351-0198, Japan

    Hajime Asama & Hayato Kaetsu

Authors
  1. Yoshikazu Arai
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  2. Hajime Asama
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  3. Hayato Kaetsu
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Editor information

Editors and Affiliations

  1. Advanced Engineering Center, RIKEN (The Institute of Physical and Chemical Research), 2-1 Hirosawa, 351-0198, Wako-shi, Saitama, Japan

    Hajime Asama (Head of Instrumentation Project Promotion Division) (Head of Instrumentation Project Promotion Division)

  2. Department of Precision Machinery Engineering, The Unviersity of Tokyo, 7-3-1 Hongo, 113-8656, Bunkyo-ku, Tokyo, Japan

    Tamio Arai (Professor) (Professor)

  3. Department of Micro System Engineering, Nagoya University, 464-8603, Furo-cho, Chikusa-ku, Nagoya, Japan

    Toshio Fukuda (Professor) (Professor)

  4. Department of Intelligent Systems Graduate School of Information and Electrical Engineering, Kyushu University, 6-10-1 Hakozaki, 812-8581, Higaschi-ku, Fukuoka, Japan

    Tsutomu Hasegawa (Professor) (Professor)

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© 2002 Springer-Verlag Tokyo

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Arai, Y., Asama, H., Kaetsu, H. (2002). Map Acquisition in Multi-Robot Systems based on Time Shared Scheduling. In: Asama, H., Arai, T., Fukuda, T., Hasegawa, T. (eds) Distributed Autonomous Robotic Systems 5. Springer, Tokyo. https://doi.org/10.1007/978-4-431-65941-9_31

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  • DOI: https://doi.org/10.1007/978-4-431-65941-9_31

  • Publisher Name: Springer, Tokyo

  • Print ISBN: 978-4-431-65943-3

  • Online ISBN: 978-4-431-65941-9

  • eBook Packages: Springer Book Archive

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