Collaborative mapping and navigation for a mobile robot swarm

Ioannis Arvanitakis, Anthony Tzes

    Research output: Chapter in Book/Report/Conference proceedingConference proceedingpeer-review

    6 Citations (Scopus)

    Abstract

    The collaborative navigation of a team of ground mobile robots in an unknown planar environment towards fixed stationary targets is the subject of this paper. Each mobile robot is equipped with a limited field of view limited-range finder and a magnetometer to infer its orientation. Each target location is known, and a switching objective function initially guarantees the individual robots exploration towards its target area and afterwards safely guides each robot towards its target. During the collective exploration, the robots exchange their maps in a collaborative manner. If a robot detects the target that is assigned to another robot, it communicates this information to the corresponding robot and continues to explore its target. The other robot rather than performing exploration towards its already discovered target, it attempts to join its map with that of the reporting robot. Simulation results that prove the efficiency of the proposed scheme are presented.

    Original languageEnglish
    Title of host publication25th Mediterranean Conference on Control and Automation, MED 2017
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages696-700
    Number of pages5
    ISBN (Electronic)9781509045334
    DOIs
    Publication statusPublished - 18 Jul 2017
    Event25th Mediterranean Conference on Control and Automation, MED 2017 - Valletta, Malta
    Duration: 3 Jul 20176 Jul 2017

    Conference

    Conference25th Mediterranean Conference on Control and Automation, MED 2017
    Country/TerritoryMalta
    CityValletta
    Period3/07/176/07/17

    ASJC Scopus subject areas

    • Control and Optimization
    • Modelling and Simulation

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