A spatially structured genetic algorithm for multi-robot localization

被引：0
|
作者：
Andrea Gasparri
Stefano Panzieri
Federica Pascucci
机构：
[1] Università degli Studi Roma Tre,Dip. Informatica e Automazione
来源：
Intelligent Service Robotics | 2009年 / 2卷
关键词：
Mobile robot; Localization; Genetic algorithms; Complex networks;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
In this paper the multi-robot localization problem is addressed. A new framework based on a spatially structured genetic algorithm is proposed. Collaboration among robots is considered and is limited to the exchange of sensor data. Additionally, the relative distance and orientation among robots are assumed to be available. The proposed framework (MR-SSGA) takes advantage of the cooperation so that the perceptual capability of each robot is extended. Cooperation can be set-up at any time when robots meet, it is fully decoupled and does not require robots to stop. Several simulations have been performed, either considering cooperation activated or not, in order to emphasize the effectiveness of the collaboration strategy.
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收藏
页码：31 / 40
页数：9
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