Distributed Multirobot Exploration Based on Scene Partitioning and Frontier Selection
المؤلفون المشاركون
Lopez-Perez, Jose J.
Hernandez-Belmonte, Uriel H.
Ramirez-Paredes, Juan-Pablo
Contreras-Cruz, Marco A.
Ayala-Ramirez, Victor
المصدر
Mathematical Problems in Engineering
العدد
المجلد 2018، العدد 2018 (31 ديسمبر/كانون الأول 2018)، ص ص. 1-17، 17ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2018-06-20
دولة النشر
مصر
عدد الصفحات
17
التخصصات الرئيسية
الملخص EN
In mobile robotics, the exploration task consists of navigating through an unknown environment and building a representation of it.
The mobile robot community has developed many approaches to solve this problem.
These methods are mainly based on two key ideas.
The first one is the selection of promising regions to explore and the second is the minimization of a cost function involving the distance traveled by the robots, the time it takes for them to finish the exploration, and others.
An option to solve the exploration problem is the use of multiple robots to reduce the time needed for the task and to add fault tolerance to the system.
We propose a new method to explore unknown areas, by using a scene partitioning scheme and assigning weights to the frontiers between explored and unknown areas.
Energy consumption is always a concern during the exploration, for this reason our method is a distributed algorithm, which helps to reduce the number of communications between robots.
By using this approach, we also effectively reduce the time needed to explore unknown regions and the distance traveled by each robot.
We performed comparisons of our approach with state-of-the-art methods, obtaining a visible advantage over other works.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Lopez-Perez, Jose J.& Hernandez-Belmonte, Uriel H.& Ramirez-Paredes, Juan-Pablo& Contreras-Cruz, Marco A.& Ayala-Ramirez, Victor. 2018. Distributed Multirobot Exploration Based on Scene Partitioning and Frontier Selection. Mathematical Problems in Engineering،Vol. 2018, no. 2018, pp.1-17.
https://search.emarefa.net/detail/BIM-1206175
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Lopez-Perez, Jose J.…[et al.]. Distributed Multirobot Exploration Based on Scene Partitioning and Frontier Selection. Mathematical Problems in Engineering No. 2018 (2018), pp.1-17.
https://search.emarefa.net/detail/BIM-1206175
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Lopez-Perez, Jose J.& Hernandez-Belmonte, Uriel H.& Ramirez-Paredes, Juan-Pablo& Contreras-Cruz, Marco A.& Ayala-Ramirez, Victor. Distributed Multirobot Exploration Based on Scene Partitioning and Frontier Selection. Mathematical Problems in Engineering. 2018. Vol. 2018, no. 2018, pp.1-17.
https://search.emarefa.net/detail/BIM-1206175
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1206175
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
تقوم هذه الخدمة بالتحقق من التشابه أو الانتحال في الأبحاث والمقالات العلمية والأطروحات الجامعية والكتب والأبحاث باللغة العربية، وتحديد درجة التشابه أو أصالة الأعمال البحثية وحماية ملكيتها الفكرية. تعرف اكثر