Proceedings of the 2016 2nd International Conference on Artificial Intelligence and Industrial Engineering (AIIE 2016)

Remember-All Based Frontier Allocation for Multi-Robot Coverage in Unknown Environments

Authors
Sushil Parti, Dan Wu
Corresponding Author
Sushil Parti
Available Online November 2016.
DOI
10.2991/aiie-16.2016.34How to use a DOI?
Keywords
robot coverage; autonomous robots; frontier coverage; unknown environments; ROS
Abstract

Robots are being increasingly used for coverage tasks which were earlier considered too dangerous or monotonous to be performed by humans such as interplanetary exploration, search & rescue missions, etc. Out of all the multi-robot coverage approaches, the frontier based approach is one of the most widely used. Most of the coverage approaches developed so far face the issue of frontier duplication and require access to maps of the environments prior to coverage. In this work, a new frontier based strategy for multi-robot coverage in unknown environments is developed. This new strategy tries to remember and manage all the frontiers discovered so far. It is scalable to multiple robots and does not require prior access to the maps. It also uses a new frontier allocation and coordination strategy, which reduces the frontier duplication and improves the efficiency of coverage.

Copyright
© 2016, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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Volume Title
Proceedings of the 2016 2nd International Conference on Artificial Intelligence and Industrial Engineering (AIIE 2016)
Series
Advances in Intelligent Systems Research
Publication Date
November 2016
ISBN
978-94-6252-271-8
ISSN
1951-6851
DOI
10.2991/aiie-16.2016.34How to use a DOI?
Copyright
© 2016, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Cite this article

TY  - CONF
AU  - Sushil Parti
AU  - Dan Wu
PY  - 2016/11
DA  - 2016/11
TI  - Remember-All Based Frontier Allocation for Multi-Robot Coverage in Unknown Environments
BT  - Proceedings of the 2016 2nd International Conference on Artificial Intelligence and Industrial Engineering (AIIE 2016)
PB  - Atlantis Press
SP  - 146
EP  - 152
SN  - 1951-6851
UR  - https://doi.org/10.2991/aiie-16.2016.34
DO  - 10.2991/aiie-16.2016.34
ID  - Parti2016/11
ER  -