Information-based multi-agent exploration

被引：16

作者：

Baglietto, M ^{[1
]}

Paolucci, M ^{[1
]}

Scardovi, L ^{[1
]}

Zoppoli, R ^{[1
]}

机构：

[1] Univ Genoa, DIST, Dept Commun Comp & Syst Sci, I-16145 Genoa, Italy

来源：

ROMOCO'02: PROCEEDINGS OF THE THIRD INTERNATIONAL WORKSHOP ON ROBOT MOTION AND CONTROL | 2002年

关键词：

D O I：

10.1109/ROMOCO.2002.1177104

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper deals with the problem of mapping an unknown environment by a team of robots. A discrete grid map of the environment is considered in which each cell is marked as free or not dependent on the possible presence of obstacles. The multi-agent exploration is performed by a team of autonomous robots which can communicate with each other and coordinate their actions. A new information based exploration heuristic that exploits the concepts of both information-gain and frontier is proposed. Experimental results show the effectiveness of the approach.

引用

页码：173 / 179

页数：7

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