Collaborative mapping and navigation for a mobile robot swarm

Ioannis Arvanitakis, Antonios Tzes

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Abstract

    The collaborative navigation of a team of ground mobile robots in an unknown planar environment towards fixed stationary targets is the subject of this paper. Each mobile robot is equipped with a limited field of view limited-range finder and a magnetometer to infer its orientation. Each target location is known, and a switching objective function initially guarantees the individual robots exploration towards its target area and afterwards safely guides each robot towards its target. During the collective exploration, the robots exchange their maps in a collaborative manner. If a robot detects the target that is assigned to another robot, it communicates this information to the corresponding robot and continues to explore its target. The other robot rather than performing exploration towards its already discovered target, it attempts to join its map with that of the reporting robot. Simulation results that prove the efficiency of the proposed scheme are presented.

    Original languageEnglish (US)
    Title of host publication2017 25th Mediterranean Conference on Control and Automation, MED 2017
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages696-700
    Number of pages5
    ISBN (Electronic)9781509045334
    DOIs
    StatePublished - Jul 18 2017
    Event25th Mediterranean Conference on Control and Automation, MED 2017 - Valletta, Malta
    Duration: Jul 3 2017Jul 6 2017

    Other

    Other25th Mediterranean Conference on Control and Automation, MED 2017
    CountryMalta
    CityValletta
    Period7/3/177/6/17

    Fingerprint

    Swarm
    Mobile Robot
    Mobile robots
    Navigation
    Robot
    Robots
    Target
    Range finders
    Magnetometers
    Field of View
    Join
    Continue
    Objective function
    Unknown
    Range of data
    Simulation

    ASJC Scopus subject areas

    • Control and Optimization
    • Modeling and Simulation

    Cite this

    Arvanitakis, I., & Tzes, A. (2017). Collaborative mapping and navigation for a mobile robot swarm. In 2017 25th Mediterranean Conference on Control and Automation, MED 2017 (pp. 696-700). [7984199] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MED.2017.7984199

    Collaborative mapping and navigation for a mobile robot swarm. / Arvanitakis, Ioannis; Tzes, Antonios.

    2017 25th Mediterranean Conference on Control and Automation, MED 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 696-700 7984199.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Arvanitakis, I & Tzes, A 2017, Collaborative mapping and navigation for a mobile robot swarm. in 2017 25th Mediterranean Conference on Control and Automation, MED 2017., 7984199, Institute of Electrical and Electronics Engineers Inc., pp. 696-700, 25th Mediterranean Conference on Control and Automation, MED 2017, Valletta, Malta, 7/3/17. https://doi.org/10.1109/MED.2017.7984199
    Arvanitakis I, Tzes A. Collaborative mapping and navigation for a mobile robot swarm. In 2017 25th Mediterranean Conference on Control and Automation, MED 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 696-700. 7984199 https://doi.org/10.1109/MED.2017.7984199
    Arvanitakis, Ioannis ; Tzes, Antonios. / Collaborative mapping and navigation for a mobile robot swarm. 2017 25th Mediterranean Conference on Control and Automation, MED 2017. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 696-700
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