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Exploration Algorithms by Multiple Robots in Challenged Communication Environment

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2 Author(s)
Nakazono, Y. ; Grad. Sch. of Sci. & Technol., Kwansei Gakuin Univ., Sanda, Japan ; Miwa, H.

Information collecting and sharing technologies in disaster areas is important, especially, collecting and sharing information of the damaged location and injured people in a building is important for prompt rescue operation. For that purpose, a method to build up a map of an unknown environment without a priori knowledge is necessary. However, as a map must be explored by multiple autonomous robots under the poor wireless communication environment such as inside a damaged building, it is not easy to design an efficient exploration algorithm. In this paper, we propose exploration algorithms by multiple robots based on the store-carry-forward scheme which is one of information sharing methods for the challenged communication environment. The numerical experiments show that the proposed algorithms efficiently explore a map.

Published in:

Intelligent Networking and Collaborative Systems (INCOS), 2010 2nd International Conference on

Date of Conference:

24-26 Nov. 2010