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Leveraging Area Bounds Information for Autonomous Multirobot Exploration

Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 302)

Abstract

In this paper, we propose an approach, the Space-Based Potential Field (SBPF) approach, to control multiple robots for area exploration missions that focus on robot dispersion. The SBPF method is based on a potential field approach that leverages knowledge of the overall bounds of the area to be explored. This additional information allows a simpler potential field control strategy for all robots but which nonetheless has good dispersion and overlap performance in all the multirobot scenarios while avoiding potential minima. Both simulation and robot experimental results are presented as evidence.

Keywords

Multirobot exploration Potential field path-planning Autonomous systems 

Notes

Acknowledgments

This research was supported by the Defense Threat Reduction Agency, Basic Research Award #HDTRA1-11-1-0038

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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  1. 1.Fordham UniversityNew YorkUSA

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