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Sensor coverage with a multi-robot system

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2 Author(s)
Rogge, J. ; Ghent Univ. Ghent, Ghent ; Aeyels, D.

The present paper develops a novel strategy for the exploration of an unknown environment with a multi-robot system. It is required that the entire free space is covered by the sensors of the robots, with a certainty of 100%. Communication between the robots is restricted to line-of-sight and to a maximum interdistance between robots. Contrary to most exploration problems, the topographical properties of the space need not be mapped. An algorithm is presented that guides a group of N robots, scanning the free space for target objects. The group splits to pass obstacles of unknown size and shape. The decision of splitting the group takes a trade-off between group coherence and speed of advancing into account. A direct application of the algorithm is mine held clearance.

Published in:

Intelligent Control, 2007. ISIC 2007. IEEE 22nd International Symposium on

Date of Conference:

1-3 Oct. 2007