TY - GEN
T1 - Cooperative multi-agent mapping and exploration in webots®
AU - Scott, Adele F.
AU - Yu, Changbin
PY - 2009
Y1 - 2009
N2 - This paper addresses the problem of mapping and exploration of an unknown space by cooperative multi-agent systems. The exploration problem is extended to jointly covering an area n times. Agents are localised and can communicate with other agents. A probability based mapping algorithm is developed. Based upon this, a potential field based exploration algorithm is proposed, with three sample charge profiles that can be used for different mission requirements. Simulation results in Webots confirm the scalability and the effectiveness of these algorithms. This research justifies and prepares for a full trial in a multi-robot testbed.
AB - This paper addresses the problem of mapping and exploration of an unknown space by cooperative multi-agent systems. The exploration problem is extended to jointly covering an area n times. Agents are localised and can communicate with other agents. A probability based mapping algorithm is developed. Based upon this, a potential field based exploration algorithm is proposed, with three sample charge profiles that can be used for different mission requirements. Simulation results in Webots confirm the scalability and the effectiveness of these algorithms. This research justifies and prepares for a full trial in a multi-robot testbed.
UR - http://www.scopus.com/inward/record.url?scp=66149164563&partnerID=8YFLogxK
U2 - 10.1109/ICARA.2000.4803950
DO - 10.1109/ICARA.2000.4803950
M3 - Conference contribution
SN - 9781424427130
T3 - ICARA 2009 - Proceedings of the 4th International Conference on Autonomous Robots and Agents
SP - 56
EP - 61
BT - ICARA 2009 - Proceedings of the 4th International Conference on Autonomous Robots and Agents
T2 - 4th International Conference on Autonomous Robots and Agents, ICARA 2009
Y2 - 10 February 2009 through 12 February 2009
ER -