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
@inproceedings{baa6951f810246da8ad0a1d68c0a2c1f,
title = "Collaborative mapping and navigation for a mobile robot swarm",
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.",
author = "Ioannis Arvanitakis and Antonios Tzes",
year = "2017",
month = "7",
day = "18",
doi = "10.1109/MED.2017.7984199",
language = "English (US)",
pages = "696--700",
booktitle = "2017 25th Mediterranean Conference on Control and Automation, MED 2017",
publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

TY - GEN

T1 - Collaborative mapping and navigation for a mobile robot swarm

AU - Arvanitakis, Ioannis

AU - Tzes, Antonios

PY - 2017/7/18

Y1 - 2017/7/18

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=85027862012&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85027862012&partnerID=8YFLogxK

U2 - 10.1109/MED.2017.7984199

DO - 10.1109/MED.2017.7984199

M3 - Conference contribution

AN - SCOPUS:85027862012

SP - 696

EP - 700

BT - 2017 25th Mediterranean Conference on Control and Automation, MED 2017

PB - Institute of Electrical and Electronics Engineers Inc.

ER -