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— There are several applications for which it is important to both detect and communicate changes in data models. For instance, in some mobile robotics applications (e.g. surveillance) a robot needs to detect significant changes in the environment (e.g. a layout change) which it may achieve by comparing current data provided by its sensors with previously(More)
— The ability to detect perceptions which were never experienced before, i.e. novelty detection, is an important component of autonomous robots working in real environments. It is achieved by comparing current data provided by its sensors with a previously known map of the environment. This often constitutes an extremely challenging task due to the large(More)
In this paper the problem of patrolling an environment with a dynamic team of robots is targeted. Lately, the interest of the research community has been focused in the development of patrol strategies; however there is a deficit of studies comparing such strategies, namely in terms of their performance and team scalability in different environments. For(More)
— Building cooperatively 3-D maps of unknown environments is one of the application fields of multi-robot systems. This article introduces a distributed architecture, within a probabilistic framework for vision-based 3-D mapping, whereby each robot is committed to cooperate with other robots through information sharing. An entropy-based measure of(More)
This article addresses the problem of efficient multi-robot patrolling in a known environment. The proposed approach assigns regions to each mobile agent. Every region is represented by a subgraph extracted from the topological representation of the global environment. A new algorithm is proposed in order to deal with the local patrolling task assigned for(More)
The Darwinian Particle Swarm Optimization (DPSO) is an evolutionary algorithm that extends the Particle Swarm Optimization using natural selection to enhance the ability to escape from sub-optimal solutions. An extension of the DPSO to multi-robot applications has been recently proposed and denoted as Robotic Darwinian PSO (RDPSO), benefiting from the(More)
—This article reports on a map building method that integrates topological and geometric maps created independently using multiple sensors. The procedure is termed T-SLAM to emphasize the integration of Topological and local Geometric maps that are created using a SLAM algorithm. The topological and metric representations are created independently, being(More)
— In this work, a study of several laser-based 2D Simultaneous Localization and Mapping (SLAM) techniques available in Robot Operating System (ROS) is conducted. All the approaches have been evaluated and compared in 2D simulations and real world experiments. In order to draw conclusions on the performance of the tested techniques, the experimental results(More)