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Generation of Search Behavior by a Modification of Q-MDP Value Method Read chapter Read first chapter

2016 | OriginalPaper | Chapter

Leveraging Area Bounds Information for Autonomous Multirobot Exploration

Authors : Tsung-Ming Liu, Damian M. Lyons

Published in: Intelligent Autonomous Systems 13

Publisher: Springer International Publishing

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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.

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previous chapter On the Formation Control of Multiagent Systems Under Nearly Cyclic Pursuit
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Metadata
Title
Leveraging Area Bounds Information for Autonomous Multirobot Exploration
Authors
Tsung-Ming Liu
Damian M. Lyons
Copyright Year
2016
Book
Intelligent Autonomous Systems 13

Print ISBN: 978-3-319-08337-7

Electronic ISBN: 978-3-319-08338-4

Copyright Year: 2016

DOI
https://doi.org/10.1007/978-3-319-08338-4_42

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