DocumentCode :
2350479
Title :
Exploration Algorithms by Multiple Robots in Challenged Communication Environment
Author :
Nakazono, Yuta ; Miwa, Hiroyoshi
Author_Institution :
Grad. Sch. of Sci. & Technol., Kwansei Gakuin Univ., Sanda, Japan
fYear :
2010
fDate :
24-26 Nov. 2010
Firstpage :
380
Lastpage :
385
Abstract :
Information collecting and sharing technologies in disaster areas is important, especially, collecting and sharing information of the damaged location and injured people in a building is important for prompt rescue operation. For that purpose, a method to build up a map of an unknown environment without a priori knowledge is necessary. However, as a map must be explored by multiple autonomous robots under the poor wireless communication environment such as inside a damaged building, it is not easy to design an efficient exploration algorithm. In this paper, we propose exploration algorithms by multiple robots based on the store-carry-forward scheme which is one of information sharing methods for the challenged communication environment. The numerical experiments show that the proposed algorithms efficiently explore a map.
Keywords :
emergency services; hazardous areas; mobile robots; multi-robot systems; path planning; radiocommunication; service robots; autonomous robots; disaster areas; information collecting; information sharing methods; multiple robots exploration algorithm; rescue operation; store-carry-forward scheme; wireless communication environment; Delay and Disruption-Tolerant Networking; Exploration algorithm; Multi-robot; Search strategy;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Networking and Collaborative Systems (INCOS), 2010 2nd International Conference on
Conference_Location :
Thessaloniki
Print_ISBN :
978-1-4244-8828-5
Electronic_ISBN :
978-1-4244-4278-2
Type :
conf
DOI :
10.1109/INCOS.2010.31
Filename :
5702129
Link To Document :
بازگشت