Multi-robot deployment using topological maps
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Universidade Federal de Minas Gerais
Descrição
Tipo
Artigo de periódico
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Membros da banca
Resumo
This paper proposes an efficient and distributed deployment strategy to optimally distribute
teams of robots in environments that can be represented by topological maps. Among the several applications of our solution are sensing and coverage of
large corridor-based buildings, such as hospitals and
schools, and the optimal placement of service vehicles in the streets of a big city. The representation
of the environment as a topological map transforms
the original two or three-dimensional problem into a
one-dimensional, simplified problem, thus reducing
the computational cost of the solution. Moreover, each
robot can reach its final position by simply following
a sequence of intuitive, human-like commands, without the need for global metric localization, which also
simplifies robot control. Besides presenting convergence proofs for our method, the paper also presents
simulated and real world experiments that illustrate
and validate our approach.
Abstract
Assunto
Robôs - Sistemas de controle, Robótica
Palavras-chave
Multi-robot deployment · Topological map · Multi-robot coverage
Citação
Curso
Endereço externo
http://www.cpdee.ufmg.br/~gpereira/papers/jirs2017.pdf