liu.seSearch for publications in DiVA
ReferencesLink to record
Permanent link

Direct link
RFID-Based Exploration for Large Robot Teams
2007 (English)In: Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), IEEE, 2007, 4606-4613Konferensbidrag (Refereed)
Abstract [en]

To coordinate a team of robots for exploration is a challenging problem, particularly in large areas as for example the devastated area after a disaster. This problem can generally be decomposed into task assignment and multi-robot path planning. In this paper, we address both problems jointly. This is possible because we reduce significantly the size of the search space by utilizing RFID tags as coordination points. The exploration approach consists of two parts: a stand-alone distributed local search and a global monitoring process which can be used to restart the local search in more convenient locations. Our results show that the local exploration works for large robot teams, particularly if there are limited computational resources. Experiments with the global approach showed that the number of conflicts can be reduced, and that the global coordination mechanism increases significantly the explored area.

National Category
Engineering and Technology
Identifiers
urn:nbn:se:liu:diva-72572 (URN)10.1109/ROBOT.2007.364189 (DOI)oai:DiVA.org:liu-72572 (OAI)
Conference
2007 IEEE International Conference on, Robotics and Automation, Roma, Italy, 10-14 April 2007
Projects
Artificial Intelligence & Integrated Computer Systems
Available from2011-11-29 Created:2011-11-28 Last updated:2011-12-07Bibliographically approved

Open Access in DiVA

fulltext(1671 kB)199 downloads
File information
File name FULLTEXT02.pdfFile size 1671 kBChecksum SHA-512
1cebbe1fb03fa409ca112a99206bac64da2d0dbf4a5f16bd730d683ca6312e4d456999462dd985b528c2347921ab03ee8c53349af1eed7dc539d775421023422
Type fulltextMimetype application/pdf

Other links

Publisher's full text

Search in DiVA

By author/editor
Ziparo, V. A.Kleiner, AlexanderNebel, B.Nardi, D.
By organisation
University of Freiburg
Engineering and Technology

Search outside of DiVA

GoogleGoogle Scholar
Total: 199 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Citations

Web of Science®:

Altmetric score

Total: 17 hits
ReferencesLink to record
Permanent link

Direct link