Distributed Multi-Robot Exploration.
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|Title:||Distributed Multi-Robot Exploration|
This dissertation introduces the DisCoverage paradigm. DisCoverage describes a novel scheme for distributed multi-robot exploration. The objective of the multi-robot exploration problem is to explore and map an a priori unknown environment as quick as possible with a group of autonomous robots. DisCoverage solves this problem through effective coordination of the group, such that the robots simultaneously explore different parts of the environment. In contrast to existing approaches, DisCoverage provides a distributed solution to the multi-robot exploration problem: Robots communicate and exchange data only with robots in the respective neighborhood, such that no central coordinating unit is required. As a result, the local data exchange among the robots allows the group to globally act as one team, facilitating robust and efficient exploration of the entire environment.
|Place of Publication:||Darmstadt|
|Uncontrolled Keywords:||multi-robot exploration, distributed optimization, distributed systems, coverage problem|
|Classification DDC:||600 Technik, Medizin, angewandte Wissenschaften > 620 Ingenieurwissenschaften|
|Divisions:||18 Department of Electrical Engineering and Information Technology
18 Department of Electrical Engineering and Information Technology > Institut für Automatisierungstechnik und Mechatronik
18 Department of Electrical Engineering and Information Technology > Institut für Automatisierungstechnik und Mechatronik > Control Methods and Robotics
|Date Deposited:||21 Oct 2016 08:40|
|Last Modified:||21 Oct 2016 08:40|
|Referees:||Adamy, Prof. Dr. Jürgen and Roth, Prof. Stefan|
|Refereed:||2 July 2014|