Journal
IEEE TRANSACTIONS ON CYBERNETICS
Volume 47, Issue 12, Pages 4038-4048Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCYB.2016.2594500
Keywords
Collision avoidance; communication network; multirobot exploration; sensor localization; sensor network
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Monitoring of large complex environments, such as underwater environments, is an important task in surveillance. An information (sensor) network can be built to achieve the task. To build an information network in an unknown workspace, we use multiple robots deploying information nodes. While robots build the network, they localize themselves as well as deployed nodes in the global coordinate system. Our multirobot networking strategy is as follows: each robot iteratively visits a frontier, which borders an unsensed area, until all areas are explored. As multiple robots explore the workspace, a robot must avoid colliding with another robot as well as with an obstacle. Hence, we introduce collision avoidance control laws and integrate the control laws with our cooperative networking strategy. Using MATLAB simulations, we verify the scalability and effectiveness of both our networking strategy and the collision avoidance control laws.
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