Haumann, Dominik ; Willert, Volker ; Listmann, Kim D. (2023):
DisCoverage: From Coverage to Distributed Multi-Robot Exploration. (Publisher's Version)
In: IFAC Proceedings Volumes, 46 (27), pp. 328-335. IFAC - International Federation of Automatic Control, ISSN 1474-6670,
DOI: 10.26083/tuprints-00023296,
[Article]
![[img]](https://tuprints.ulb.tu-darmstadt.de/style/images/fileicons/text.png) |
Text
1-s2.0-S1474667015402460-main.pdf Copyright Information: CC-BY-NC-ND 4.0 International - Creative Commons, Attribution NonCommercial, NoDerivs. Download (1MB) |
| Item Type: | Article |
|---|---|
| Origin: | Secondary publication service |
| Status: | Publisher's Version |
| Title: | DisCoverage: From Coverage to Distributed Multi-Robot Exploration |
| Language: | English |
| Abstract: | DisCoverage transfers the well-known solution to the coverage problem to the exploration problem. Essentially, DisCoverage solves the multi-robot exploration problem through a spatially distributed optimization problem. Our contribution is a new objective function for DisCoverage based on the centroidal search. Each robot continuously creates and optimizes the proposed objective function, obtaining a gradient-based control law that leads into unexplored regions. A proof of convergence is given as well as a simulation and a statistical evaluation demonstrating DisCoverage. |
| Journal or Publication Title: | IFAC Proceedings Volumes |
| Volume of the journal: | 46 |
| Issue Number: | 27 |
| Place of Publication: | Darmstadt |
| Publisher: | IFAC - International Federation of Automatic Control |
| Uncontrolled Keywords: | distributed control, distributed optimization, mobile robots, robot navigation, multi-robot exploration, dynamic coverage |
| Classification DDC: | 600 Technik, Medizin, angewandte Wissenschaften > 620 Ingenieurwissenschaften und Maschinenbau |
| Divisions: | 18 Department of Electrical Engineering and Information Technology > Institut für Automatisierungstechnik und Mechatronik > Control Methods and Intelligent Systems |
| Date Deposited: | 01 Mar 2023 13:45 |
| Last Modified: | 26 May 2023 07:08 |
| DOI: | 10.26083/tuprints-00023296 |
| Corresponding Links: | |
| URN: | urn:nbn:de:tuda-tuprints-232961 |
| Additional Information: | Zugl. Konferenzveröffentlichung: 4th IFAC Workshop on Distributed Estimation and Control in Networked Systems (NecSys 2013), 25.-26.09.2013, Koblenz, Germany |
| URI: | https://tuprints.ulb.tu-darmstadt.de/id/eprint/23296 |
| PPN: | 507990056 |
| Export: |
 |
View Item |
Drucken
Impressum