Advertisement

Real-Time Cooperative Exploration by Reaction-Diffusion Equation on a Graph

  • Chomchana Trevai
  • Keisuke Ichikawa
  • Yusuke Fukazawa
  • Hideo Yuasa
  • Jun Ota
  • Tamio Arai
  • Hajime Asama

Abstract

In this paper we present a path planning method for the environment exploration using the reaction-diffusion equation on a graph. We autonomously arrange sub-goals for robots to go along and explore the environment. By using reaction-diffusion on a graph for sub-goals arrangement, we can deal with the emergence of unknown objects or obstacles in the dynamic environment. This method also can explore the environment in real-time and make sure that robots completely explore all the area in the environment. The results given in this paper demonstrate that our method successfully solves exploration problems both in simulations and in real robot experiments.

Keywords

Travel Salesman Problem Travel Salesman Problem Real Robot Covered Environment Single Robot 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    B. Yamauchi. (1999) Decentralized coordination for multirobot exploration. Robotics and Autonomous Systems, 29, 111–118.MathSciNetCrossRefGoogle Scholar
  2. 2.
    S. Thrun, W. Burgard, D. Fox. (2000) A Real-Time Algorithm for Mobile Robot Mapping With Applications to Multi-Robot and 3D Mapping. IEEE International Conference on Robotics and Automation, 321–328.Google Scholar
  3. 3.
    W. Burgard, D. Fox, M. Moors, R. Simmons, S. Thrun. (2000) Collaborative Multi-Robot Exploration. IEEE International Conference on Robotics and Automation, 476–481.Google Scholar
  4. 4.
    N. Miyata, J. Ota, Y. Aiyama, T. Arai. (1999) Real-time Task Assignment for Cooperative Transportation by Multiple Mobile Robots. IEEE/RSJ International Conference on Intelligent Robots and Systems, 1167–1174.Google Scholar
  5. 5.
    A. Yamashita, K. Kawano, J. Ota, T. Arai, M. Fukuchi, J. Sasaki, Y. Aiyama. (1999) Planning Method for Cooperative Manipulation by Multiple Mobile Robots using Tools with Motion Errors. IEEE/RSJ International Conference on Intelligent Robots and Systems, 978–983.Google Scholar
  6. 6.
    H. Yuasa, M. Ito. (1998) Internal Observation Systems and a Theory of Reaction-Diffusion Equation on a Graph. IEEE International Conference on Systems, Man and Cybernetics(SMC’98), 3669–3673Google Scholar
  7. 7.
    E. Gonzalez, A. Suarez, C. Moreno, F. Artigue. (1996) Complementary Regions: a Surface Filling Algorithm, Proceeding of the IEEE International Conference on Robotics and Automation, 909–914.Google Scholar
  8. 8.
    J.B.M Melissen, P.C. Shuur. (2000) Covering a rectangle with six and seven circles, Discrete Applied Mathematics 99, 149–156.MathSciNetMATHCrossRefGoogle Scholar
  9. 9.
    S. Ichikawa, F. Hara. (1996) Experimental Characteristics of Multiple-Robots Behaviors in Communication Network Expansion and Object-Fetching, Distributed Autonomous Robotics Systems, 2, 183–194.Google Scholar
  10. 10.
    The Traveling Salesman Problem. (1985) Edited by E.L. Lawler, J.K. Lenstra, A.H.G. Rinooy Kan, D.B. Shumoys, A Wiley-Interscience Publication.Google Scholar
  11. 11.
    D. Kurabayashi, J. Ota, T. Arai, S. Ichikawa, S. Koga, H. Asama, I. Endo. (1996) Cooperative Sweeping in Environments with Movable Obstacles, Distributed Autonomous Robotics System, 2, 257–267.Google Scholar

Copyright information

© Springer-Verlag Tokyo 2002

Authors and Affiliations

  • Chomchana Trevai
    • 1
  • Keisuke Ichikawa
    • 1
  • Yusuke Fukazawa
    • 1
  • Hideo Yuasa
    • 1
  • Jun Ota
    • 1
  • Tamio Arai
    • 1
  • Hajime Asama
    • 2
  1. 1.University of TokyoBunkyo-ku, TokyoJapan
  2. 2.RIKEN:The Institute of Physical and Chemical ResearchWako-shi, SaitamaJapan

Personalised recommendations