Leveraging area bounds information for autonomous decentralized multi-robot exploration

  title={Leveraging area bounds information for autonomous decentralized multi-robot exploration},
  author={Tsung-Ming Liu and Damian M. Lyons},
  journal={Robotics Auton. Syst.},
This paper proposes a simple and uniform, decentralized approach to the problem of dispersing a team of robots to explore an area quickly. The Decentralized Space-Based Potential Field (D-SBPF) algorithm is a potential field approach that leverages knowledge of the overall bounds of the area to be explored. It includes a monotonic coverage factor in the potential field to avoid minima, realistic sensor bounds, and a distributed map exchange protocol.The D-SBPF approach yields a simple potential… Expand
Thorough exploration of complex environments with a space-based potential field
The proposed Space-Based Potential Field algorithm is modified to handle two problems with the original SBPF method: fast exploration of enclosed spaces, and fast navigation of convex obstacles. Expand
An Approach to Fast Multi-Robot Exploration in Buildings with Inaccessible Spaces
  • Matthew McNeill, D. Lyons
  • Computer Science
  • 2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)
  • 2019
A novel combined SBPF and frontier-based method of robot exploration called O-SBPF is proposed, which adds two new space classifications: open, areas known to be accessible; and occluded, areas which may be inaccessible. Expand
Distributed Multirobot Exploration Based on Scene Partitioning and Frontier Selection
A new method to explore unknown areas, by using a scene partitioning scheme and assigning weights to the frontiers between explored and unknown areas is proposed, which helps to reduce the number of communications between robots and effectively reduce the time needed to exploreunknown regions and the distance traveled by each robot. Expand
Meeting-Merging-Mission: A Multi-robot Coordinate Framework for Large-Scale Communication-Limited Exploration
This letter presents a complete framework Meeting-Merging-Mission for multi-robot exploration under communication restriction, and develops a mission-based protocol that drives robots to share collected information in stable rendezvous. Expand
A Decentralized Framework for Multi-Agent Robotic Systems
This article describes a communication framework, where each agent in the system can leave the network or accept new connections, sending its information based on the transfer history of all nodes in the network. Expand
A Cognitive Agent-based Model for Multi-Robot Coverage at a City Scale
For a city-scale multi-robotic exploration, this simple but efficient model does not require explicit communication and data sharing (and hence representation and storage of navigated map) because possibility of encountering and influencing another agent is quite low, due to spatial dynamics of the environment. Expand
Multirobot Exploration of Communication-Restricted Environments: A Survey
The authors provide a taxonomy of the field of communication-restricted multirobot exploration, survey recent work in this field, and outline some promising research directions. Expand
A safe area search and map building algorithm for a wheeled mobile robot in complex unknown cluttered environments
A safe map building and area search algorithm for a mobile robot in a closed unknown environment with obstacles and it is proved that with probability 1 the robot completes its task in a finite time. Expand
Sensor Network Based Collision-Free Navigation and Map Building for Mobile Robots
  • Hang Li
  • Computer Science, Engineering
  • ArXiv
  • 2017
A global collision-free path planning algorithm for ground mobile robots in dynamic environments is presented firstly and considering the advantages of sensor network, the presented path plans algorithm is developed to a sensor network based navigation algorithm forGround mobile robots. Expand
On Comparative Algorithmic Pathfinding in Complex Networks for Resource-Constrained Software Agents
On Comparative Algorithmic Pathfinding in Complex Networks for Resource-Constrained Software Agents by Michael J. Moran MS, Columbus State University, 2013 BA, Thomas Edison State University, 2010Expand


Leveraging Area Bounds Information for Autonomous Multirobot Exploration
The SBPF method is based on a potential field approach that leverages knowledge of the overall bounds of the area to be explored to allow a simpler potential field control strategy for all robots but which nonetheless has good dispersion and overlap performance in all the multirobot scenarios while avoiding potential minima. Expand
Potential field based approach for coordinate exploration with a multi-robot team
A new distributed algorithm for the exploration of an unknown environment with a team of mobile robots that overcome the problem of local minima by introducing a leader in the team which has a different control law, unaffected by this problem. Expand
Unifying Geometric, Probabilistic, and Potential Field Approaches to Multi-robot Coverage Control
This paper unifies and extends several different existing strategies for multi-robot coverage control, including ones based on Voronoi partitions, probabilistic models, and artificial potentialExpand
A Behavior-Based Strategy for Single and Multi-Robot Autonomous Exploration
This paper proposes a simple yet effective approach that combines a behavior-based navigation with an efficient data structure to store previously visited regions that allows robots to safely navigate, disperse and efficiently explore the environment. Expand
Potential Field based Integrated Exploration for Multi-robot Teams
An approach for multi-robot cooperative exploration based on the potential field generated by several basic behaviours that considers the current knowledge of the environment, the location of the robots and the uncertainty in their positions in order to return to previously explored areas when it is needed. Expand
The multi-robot coverage problem for optimal coordinated search with an unknown number of robots
This work presents a novel multi-robot coverage scheme for an unknown number of robots and presents a deterministic coverage algorithm based on finding the shortest paths in order to optimize the number of Robots and corresponding paths. Expand
Behavioural Approach for Multi-Robot Exploration
Control strategies for mapping of unknown environments require a tradeoff between exploration and accuracy. One approach to balance these conflicting requirements is to use schema based behaviours toExpand
Merging Occupancy Grid Maps From Multiple Robots
A concrete approach to multirobot mapping is presented in form of a special similarity metric and a stochastic search algorithm that guides the search algorithm toward optimal solutions. Expand
Fusion of ranging data from robot teams operating in confined areas
The problem of fusing laser ranging data from multiple mobile robots that are surveying an area as part of a robot search and rescue or area surveillance mission, specifically in the case where members of the robot team are working in close proximity to each other is addressed. Expand
Multi-Robot Search and Rescue: A Potential Field Based Approach
Summary. This paper describes two implementations of a potential field sharing multi-robot system which we term as pessimistic and optimistic. Unlike other multirobot systems in which coordination isExpand