A Coordinated Search Strategy for Solitary Robots

05/17/2019
by   Jordan F. Masakuna, et al.
0

The problem of coordination without a priori information about the environment is important in robotics. Applications vary from formation control to search and rescue. This paper considers the problem of search by a group of solitary robots: self-interested robots without a priori knowledge about each other, and with restricted communication capacity. When the capacity of robots to communicate is limited, they may obliviously search in overlapping regions (i.e. be subject to interference). Interference hinders robot progress, and strategies have been proposed in the literature to mitigate interference [1], [2]. Interaction of solitary robots has attracted much interest in robotics, but the problem of mitigating interference when time for search is limited remains an important area of research. We propose a coordination strategy based on the method of cellular decomposition [3] where we employ the concept of soft obstacles: a robot considers cells assigned to other robots as obstacles. The performance of the proposed strategy is demonstrated by means of simulation experiments. Simulations indicate the utility of the strategy in situations where a known upper bound on the search time precludes search of the entire environment.

READ FULL TEXT

page 1

page 2

page 3

page 4

research
05/17/2019

A Coordinated Search Strategy for Multiple Solitary Robots: An Extension

The problem of coordination without a priori information about the envir...
research
09/25/2020

With Whom to Communicate: Learning Efficient Communication for Multi-Robot Collision Avoidance

Decentralized multi-robot systems typically perform coordinated motion p...
research
01/02/2018

Robots That Do Not Avoid Obstacles

The motion planning problem is a fundamental problem in robotics, so tha...
research
03/07/2021

Decentralized 2-Robot Transportation with Local and Indirect Sensing

In this paper, we propose a leader-follower hierarchical strategy for tw...
research
03/16/2021

Distributed motion coordination for multi-robot systems under LTL specifications

This paper investigates the online motion coordination problem for a gro...
research
05/19/2023

Time Optimal Ergodic Search

Robots with the ability to balance time against the thoroughness of sear...
research
06/23/2019

3D Multi-Robot Patrolling with a Two-Level Coordination Strategy

Teams of UGVs patrolling harsh and complex 3D environments can experienc...

Please sign up or login with your details

Forgot password? Click here to reset