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Cooperative multi-agent mapping and exploration Webots

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dc.contributor.authorScott, Adele
dc.contributor.authorYu, Changbin (Brad)
dc.coverage.spatialWellington New Zealand
dc.date.accessioned2015-12-10T22:20:15Z
dc.date.createdFebruary 10-12 2009
dc.date.issued2009
dc.date.updated2016-02-24T10:59:20Z
dc.description.abstractThis 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.
dc.identifier.isbn9781424427130
dc.identifier.urihttp://hdl.handle.net/1885/51843
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE Inc)
dc.relation.ispartofseriesInternational Conference on Autonomous Robots and Agents (ICARA 2009)
dc.sourceProceedings of International Conference on Autonomous Robots and Agents (ICARA 2009)
dc.subjectKeywords: Charge profiles; Mapping algorithms; Mission requirements; Multi-Agent; Multirobot; Potential field; Simulation result; Autonomous agents; Conformal mapping; Robots; Multi agent systems
dc.titleCooperative multi-agent mapping and exploration Webots
dc.typeConference paper
local.bibliographicCitation.lastpage61
local.bibliographicCitation.startpage56
local.contributor.affiliationScott, Adele, College of Engineering and Computer Science, ANU
local.contributor.affiliationYu, Changbin (Brad), College of Engineering and Computer Science, ANU
local.contributor.authoruidScott, Adele, u2566368
local.contributor.authoruidYu, Changbin (Brad), u4168516
local.description.embargo2037-12-31
local.description.notesImported from ARIES
local.description.refereedYes
local.identifier.absfor090602 - Control Systems, Robotics and Automation
local.identifier.ariespublicationu4334215xPUB233
local.identifier.doi10.1109/ICARA.2000.4803950
local.identifier.scopusID2-s2.0-66149164563
local.type.statusPublished Version

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