In this paper, the problem of collaborative exploration of a wholly unknown environment by means of a team of mobile robots is studied. To allow for a quantitative comparison of different strategies, some performance indexes are introduced. Two different strategies are proposed: a decentralized strategy, based on free-market concepts, and a strategy based on the presence of a coordinating robot. The proposed strategies will be evaluated by means of simulation models. The proposed strategies are of interest also in underwater environments.
Collaborative exploration for a team of mobile robots: centralized and decentralized strategies
GIANNETTI, LUCILLA;PAGNOTTELLI, STEFANO;VALIGI, Paolo
2004
Abstract
In this paper, the problem of collaborative exploration of a wholly unknown environment by means of a team of mobile robots is studied. To allow for a quantitative comparison of different strategies, some performance indexes are introduced. Two different strategies are proposed: a decentralized strategy, based on free-market concepts, and a strategy based on the presence of a coordinating robot. The proposed strategies will be evaluated by means of simulation models. The proposed strategies are of interest also in underwater environments.File in questo prodotto:
Non ci sono file associati a questo prodotto.
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
