Multi-robot deployment using topological maps

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dc.creatorReza Javanmard Alitappeh
dc.creatorGuilherme Pereira
dc.creatorArthur Araújo
dc.creatorLuciano Cunha de Araújo Pimenta
dc.date.accessioned2025-04-07T14:25:47Z
dc.date.accessioned2025-09-08T23:12:39Z
dc.date.available2025-04-07T14:25:47Z
dc.date.issued2017
dc.identifier.doi10.1007/s10846-017-0471-3
dc.identifier.issn0921-0296
dc.identifier.urihttps://hdl.handle.net/1843/81336
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.relation.ispartofJournal of Intelligent & Robotic Systems
dc.rightsAcesso Restrito
dc.subjectRobôs - Sistemas de controle
dc.subjectRobótica
dc.subject.otherMulti-robot deployment · Topological map · Multi-robot coverage
dc.titleMulti-robot deployment using topological maps
dc.typeArtigo de periódico
local.citation.epage661
local.citation.spage641
local.citation.volume86
local.description.resumoThis 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.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELÉTRICA
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttp://www.cpdee.ufmg.br/~gpereira/papers/jirs2017.pdf

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