Journal
APPLIED SCIENCES-BASEL
Volume 9, Issue 3, Pages -Publisher
MDPI
DOI: 10.3390/app9030573
Keywords
exploration missions; cooperative systems; multi-robot coordinated systems; constrained-communication environments
Categories
Funding
- Comision Sectorial de Investigacion (CSIC-UdelaR) through its mobility program MIA
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The exploration problem is a fundamental subject in autonomous mobile robotics that deals with achieving the complete coverage of a previously unknown environment. There are several scenarios where completing exploration of a zone is a main part of the mission. Due to the efficiency and robustness brought by multi-robot systems, exploration is usually done cooperatively. Wireless communication plays an important role in collaborative multi-robot strategies. Unfortunately, the assumption of stable communication and end-to-end connectivity may be easily compromised in real scenarios. In this paper, a novel auto-adaptive multi-objective strategy is followed to support the selection of tasks regarding both exploration performance and connectivity level. Compared with others, the proposed approach shows effectiveness and flexibility to tackle the multi-robot exploration problem, being capable of decreasing the last of disconnection periods without noticeable degradation of the completion exploration time.
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