Journal
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
Volume 33, Issue 4, Pages 519-533Publisher
SAGE PUBLICATIONS LTD
DOI: 10.1177/0278364913515309
Keywords
Robot team coordination; multi-robot mapping; multi-robot exploration
Categories
Funding
- Army Research Lab (ARL) MAST CTA project [329420]
- Boeing Corporation [RE236]
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Situational awareness in rescue operations can be provided by teams of autonomous mobile robots. Human operators are required to teleoperate the current generation of mobile robots for such applications; however, teleoperation is increasingly difficult as the number of robots is expanded. As the number of robots is increased, each robot may also interfere with one another and eventually decrease mapping performance. As presented here, through careful consideration of robot team coordination and exploration strategy, large numbers of mobile robots can be allocated to accomplish the mapping task more quickly and accurately. We present both the coordination and exploration strategies and present results from experiments in simulation as well as with up to nine mobile platforms.
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