A Multirobot System for Distributed Area Coverage and Signal Searching in Large Outdoor Scenarios

被引：16

作者：

Garzon, Mario ^{[1
]}

Valente, Joao ^{[1
,2
]}

Jesus Roldan, Juan ^{[1
,3
]}

Cancar, Leandro ^{[1
]}

Barrientos, Antonio ^{[1
]}

Del Cerro, Jaime ^{[1
]}

机构：

[1] UPM CSIC, Ctr Automat & Robot, Calle Jose Gutierrez Abascal 2, Madrid 228006, Spain

[2] Univ Carlos III Madrid, Dept Ingn Sistemas & Automat, Ave Univ 30, Madrid 28911, Spain

[3] SENER Ingn & Sistemas SA, Calle Severo Ochoa 4 Parque Tecnol Madrid, Madrid, Spain

来源：

JOURNAL OF FIELD ROBOTICS | 2016年 / 33卷 / 08期

关键词：

Chemical detection - Industrial robots;

D O I：

10.1002/rob.21636

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This work presents a complete multirobot solution for signal searching tasks in large outdoor scenarios. An evaluation of two different coverage path-planning strategies according to field size and shape is presented. A signal location system developed to simulate mines or chemical source detections is also described. The solution presented is a pioneer in evaluating multimaster robotics operative system architectures with a fleet of robots in real scenarios. This solution minimizes the use of communications bandwidth required for full operation. Finally, field results are provided, and the advantages of the implemented solution are analyzed.

引用

页码：1087 / 1106

页数：20

共 20 条

[1]

Acar E.U., 2001, Int. Conf. on Field and Service Robotics, Helsinki, Finland, P161

[2] Implicit Cooperation Strategies for Multi-robot Search of Unknown Areas [J].

Anderson, Monica ;

Papanikolopoulos, Nikolaos .

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2008, 53 (04) :381-397

[3]

[Anonymous], 2000, Robotics and Automation

[4] Aerial Remote Sensing in Agriculture: A Practical Approach to Area Coverage and Path Planning for Fleets of Mini Aerial Robots [J].

Barrientos, Antonio ;

Colorado, Julian ;

del Cerro, Jaime ;

Martinez, Alexander ;

Rossi, Claudio ;

Sanz, David ;

Valente, Joao .

JOURNAL OF FIELD ROBOTICS, 2011, 28 (05) :667-689

[5] Online Complete Coverage Path Planning for Mobile Robots Based on Linked Spiral Paths Using Constrained Inverse Distance Transform [J].

Choi, Young-Ho ;

Lee, Tae-Kyeong ;

Baek, Sang-Hoon ;

Oh, Se-Young .

2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 2009, :5788-+

[6] An Aerial-Ground Robotic System for Navigation and Obstacle Mapping in Large Outdoor Areas [J].

Garzon, Mario ;

Valente, Joao ;

Zapata, David ;

Barrientos, Antonio .

SENSORS, 2013, 13 (01) :1247-1267

[7]

Goldsmith S. Y., 1998, Collective Robotics. First International Workshop, CRW'98. Proceedings, P135, DOI 10.1007/BFb0033380

[8]

González E, 2005, IEEE INT CONF ROBOT, P2040

[9] Efficient multi-robot search for a moving target [J].

Hollinger, Geoffrey ;

Singh, Sanjiv ;

Djugash, Joseph ;

Kehagias, Athanasios .

International Journal of Robotics Research, 2009, 28 (02) :201-219

[10]

Janchiv A, 2011, 2011 11TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS), P824

← 1 2 →