By Topic

A local approach to developing grounded spatial references in multi-robot systems

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Nathan Wiebe ; Autonomous Agents Laboratory, Department of Computer, Science University of Manitoba, Winnipeg, R3T2N2 Canada ; John Anderson

For a mobile robot to be able to communicate usefully with others, the symbols it uses to communicate must be grounded to entities in the environment, and those groundings made consistent among agents. While it is common practice to hand-construct such groundings, this does not scale to large problems. In particular, when communicating about useful spatial references, there are a large number of potentially relevant groundings, even for a basic task such as navigation. This paper describes the development and evaluation of an approach that allows a group of robotic agents to develop consistent shared groundings for locations in an environment over time. This approach is based on local communication and interaction, and does not rely on the ability to broadcast references to all agents, and so is suitable for domains in which communication may be sporadic, such as robotic rescue. The evaluation of this approach, which compares several different grounding techniques, shows that shared groundings can be developed effectively over time, and that these improve the effectiveness of communication in a multi-robot setting.

Published in:

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

Date of Conference:

Oct. 29 2007-Nov. 2 2007