Including communication success in the estimation of information gain for multi-robot exploration

Proceedings of the 6th International Symposium on Modeling and Optimization in Mobile, Ad Hoc, and Wireless Networks, WiOpt 2008

Volumn , Issue , 2008, Pages 680-687

  Visser, Arnoud ^a   Slamet, Bayu A ^a  

^a UNIVERSITY OF AMSTERDAM   (Netherlands)

Author keywords

[No Author keywords available]

Indexed keywords

CONFORMAL MAPPING; MAPS; OPTIMIZATION; ROBOTICS; ROBOTS;

INFORMATION GAIN; INTERNATIONAL SYMPOSIUM; LIMITED COMMUNICATION; MULTI-ROBOT EXPLORATION; ROBOT TEAMS; UNKNO WN ENVIRONMENTS; WIRELESS NETWORKS;

AD HOC NETWORKS;

EID: 51949092727     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/WIOPT.2008.4586160     Document Type: Conference Paper

References (27)

1. A. Jacoff, E. Messina, B. Weiss, S. Tadokoro, and Y. Nakagawa, "Test arenas and performance metrics for urban search and rescue robots," in Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 2003.
2. S. Balakirsky, C. Scrapper, S. Carpin, and M. Lewis, "Usarsim: providing a framework for multi-robot performance evaluation," in Proceedings of PerMIS 2006, August 2006, pp. 98-103. [Online]. Available: http://www.isd.mel.nist.gov/PerMIS_2006/proceedings/PerMIS_Program.pdf
3. S. Balakirsky, S. Carpin, A. Kleiner, M. Lewis, A. Visser, J. Wang, and V. A. Ziparo, "Towards heterogeneous robot teams for disaster mitigation: Results and performance metrics from robocup rescue," Journal of Field Robotics, to appear.
4. B. Slamet and M. Pfingsthorn, "ManifoldSLAM: a Multi-Agent Simultaneous Localization and Mapping System for the RoboCup Rescue Virtual Robots Competition," Master's thesis, Universiteit van Amsterdam, December 2006.
5. B. Yamauchi, "A frontier based approach for autonomous exploration," in Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, Monterey, CA, July 10-11, 1997., 1997.
6. W. Burgard, M. Moors, C. Stachniss, and F. Schneider, "Coordinated multi-robot exploration," IEEE Transactions on Robotics, vol. 21, no. 3, pp. 376-378, 2005.
7. B. Yamauchi, "Frontier-based exploration using multiple robots," in AGENTS '98: Proceedings of the second international conference on Autonomous agents. New York, NY, USA: ACM Press, 1998, pp. 47-53.
8. R. Zlot, A. Stentz, M. Dias, and S. Thayer, "Multi-robot exploration controlled by a market economy," in Proceedings of the IEEE International Conference on Robotics and Automation, 2002.
9. H. H. González-Baños and J.-C. Latombe, "Navigation Strategies for Exploring Indoor Environments," The International Journal of Robotics Research, vol. 21, no. 10-11, pp. 829-848, 2002. [Online]. Available: http://ijr.sagepub.com/cgi/content/abstract/21/10-11/829
10. A. Visser, Xingrui-Ji, M. van Ittersum, and L. A. G. Jaime, "Beyond frontier exploration," in Proceedings of the 11th RoboCup International Symposium, July 2007. [Online]. Available: http://www.science.uva.nl/ ~arnoud/publications/BeyondFrontiers.pdf
11. D. Calisi, A. Censi, A. Farinelli, L. Iocchi, D. Nardi, and G. Tipaldi, "Spqr real rescue team description paper," in Robocup 2006: Robot Soccer World Cup X, Bremen, Germany, June 2006, (Proceedings CD-ROM).
12. S. Carpin, T. Stoyanov, Y. Nevatia, M. Lewis, and J. Wang, "Quantitative assessments of usarsim accuracy," in PERMIS, 2006.
13. J. Wang and S. Balakirsky, "Usarsim v 3.1.1," http://sourceforge.net/projects/usarsim, May 2007.
14. A. Howard, G. S. Sukhatme, and M. J. Matarić, "Multi-robot mapping using manifold representations," Proceedings of the IEEE - Special Issue on Multi-robot Systems, 2006.
15. F. Lu and E. Milios, "Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans," Journal of Intelligent and Robotic Systems, vol. 18, pp. 249-275, 1997.
16. S. T. Pfister, K. L. Kriechbaum, S. I. Roumeliotis, and J. W. Burdick, "A weighted range sensor matching algorithm for mobile robot displacement estimation," IEEE Transactions on Robotics, 2007, (to appear).
17. M. Pfingsthorn, B. Slamet, and A. Visser, "A scalable hybrid multi-robot slam method for highly detailed maps," in Proceedings of the 11th RoboCup International Symposium, July 2007. [Online]. Available: http://www.science.uva.nl/~arnoud/publications/slam_method.pdf
18. S. Thrun, W. Burgard, and D. Fox, Probabilistic Robotics (Intelligent Robotics and Autonomous Agents). The MIT Press, September 2005.
19. H. Moravec, "Sensor fusion in certainty grids for mobile robots," AI Magazine, vol. 9, pp. 61-74, 1988.
20. D. Fox, W. Burgard, and S. Thrun, "Active markov localization for mobile robots," Robotics and Autonomous Systems, vol. 25, pp. 195-207, March 1998.
21. N. Roy, W. Burgard, D. Fox, and S. Thrun, "Coastal navigation - mobile robot navigation with uncertainty in dynamic environments," in Proceedings of the IEEE International Conference on Robotics and Automation, 1999, pp. 34-40.
22. R. Sim and N. Roy, "Global a-optimal robot exploration in slam," in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Barcelona, Spain, 2005.
23. R. G. Simmons, D. Apfelbaum, W. Burgard, D. Fox, M. Moors, S. Thrun, and H. Younes, "Coordination for multi-robot exploration and mapping," in AAAI/IAAI, 2000, pp. 852-858.
24. T. Kollar and N. Roy, "Trajectory Optimization using Reinforcement Learning for Map Exploration," The International Journal of Robotics Research, vol. 27, no. 2, pp. 175-196, 2008. [Online]. Available: http://ijr.sagepub.com/cgi/content/abstract/27/2/175
25. H. Samet, "The quadtree and related hierarchical data structures," ACM Comput. Surv., vol. 16, no. 2, pp. 187-260, 1984.
26. H. Choset, K. M. Lynch, S. Hutchinson, G. A. Kantor, W. Burgard, L. E. Kavraki, and S. Thrun, Principles of Robot Motion: Theory, Algorithms, and Implementations. MIT Press, June 2005.
27. M. N. Rooker and A. Birk, "Multi-robot exploration under the constraints of wireless networking," Control Engineering Practice, vol. 15, no. 4, pp. 435-445, 2007.