Exploration and Map-Building under Uncertainty with Multiple Heterogeneous Robots

摘要：

In this paper, we present a multi-robot exploration strategy for map-building. We consider a team of robots with different sensing and motion capabilities. We combine geometric and probabilistic reasoning to propose a solution to our problem. We formalize the proposed solution using dynamic programming in states with imperfect information. We apply the dynamic programming technique in a reduced search space that allows us to incrementally explore the environment. We propose realistic sensor models and provide a method to compute the probability of the next sensor reading given the current state of the team of robots based on a Bayesian approach.

作者: Lourdes Mu(n)oz-G(o)mez Moises Alencastre-Miranda Rigoberto Lopez-Padilla Rafael Murrieta-Cid

作者单位: Tecnol(o)gico de Monterrey Campus Santa F(e),M(e)xico Centro de Investigaci(o)n en Matem(a)ticas,CIMAT Guanajuato,M(e)xico

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 2295-2301

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）