COMPARISON OF EXPLORATION STRATEGIES FOR MULTI-ROBOT SEARCH

Authors

  • Miroslav Kulich Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Technicka 2, 166 27 Prague, Czech Republic
  • Tomáš Juchelka Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Technicka 2, 166 27 Prague, Czech Republic
  • Libor Přeučil Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Technicka 2, 166 27 Prague, Czech Republic

DOI:

https://doi.org/10.14311/AP.2015.55.0162

Keywords:

mobile robots, multi-robot systems, planning, search, exploration

Abstract

Searching for a stationary object in an unknown environment can be formulated as an iterative procedure consisting of map updating, selection of a next goal and navigation to this goal. It finishes when the object of interest is found. This formulation and a general search structure is similar to the related exploration problem. The only difference is in goal-selection, as search and exploration objectives are not the same. Although search is a key task in many search and rescue scenarios, the robotics community has paid little attention to the problem. There is no goal-selection strategy that has been designed specifically for search. In this paper, we study four state-of-the-art strategies for multi-robot exploration, and we evaluate their performance in various environments with respect to the expected time needed to find an object, i.e. to achieve the objective of the search.

Downloads

Download data is not yet available.

Downloads

Published

2015-06-30

Issue

Vol. 55 No. 3 (2015)

Section

Articles

License

Authors who publish with this journal agree to the following terms:

1. Authors retain copyright and grant the journal right of first publication with the work simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.

2. Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.

3. Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work (See The Effect of Open Access).

4. ddd

How to Cite

Kulich, M., Juchelka, T., & Přeučil, L. (2015). COMPARISON OF EXPLORATION STRATEGIES FOR MULTI-ROBOT SEARCH. Acta Polytechnica, 55(3), 162-168. https://doi.org/10.14311/AP.2015.55.0162