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Digital
Library of the European Council for Modelling and Simulation |
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Title: |
Frontier
Based Multi Robot Area Exploration Using Prioritized Routing |
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Authors: |
Rahul
Sharma K., Daniel Honc, Frantisek Dusek, Gireesh Kumar T. |
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Published in:
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(2016).ECMS 2016 Proceedings edited
by: Thorsen Claus, Frank Herrmann, Michael Manitz, Oliver Rose, European Council for Modeling and
Simulation. doi:10.7148/2016 ISBN:
978-0-9932440-2-5 30th
European Conference on Modelling and Simulation, Regensburg Germany, May 31st
– June 3rd, 2016 |
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Citation
format: |
Rahul
Sharma K., Daniel Honc, Frantisek Dusek, Gireesh Kumar T. (2016).
Frontier Based Multi Robot Area Exploration Using Prioritized Routing, ECMS
2016 Proceedings edited by: Thorsten Claus, Frank Herrmann, Michael Manitz, Oliver Rose European
Council for Modeling and Simulation. doi:10.7148/2016-0025 |
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DOI: |
http://dx.doi.org/10.7148/2016-0025 |
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Abstract: |
The paper deals with multi-robot
centralized autonomous area exploration of unknown environment with static obstacles.
A simple reasoning algorithm based on preassignment
of routing priority is proposed. The algorithm tracks the frontiers and
assigns the robots to the frontiers when the robots fall into a trap
situation. The algorithm is simulated with various multi-robotic
configurations in different environments and compared with performance indices
in the MATLAB simulation environment. |
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Full
text: |
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