ICRA 2011 Paper Abstract

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Paper TuP210.1

Munoz-Gomez, Lourdes (ITESM - CSF), Alencastre-Miranda, Moises (ITESM-CSF), Lopez-Padilla, Rigoberto (Centro de Investigacion en Matematicas CIMAT), Murrieta-Cid, Rafael (Center for Mathematical Research)

Exploration and Map-Building under Uncertainty with Multiple Heterogeneous Robots

Scheduled for presentation during the Regular Sessions "Localization and Mapping IV" (TuP210), Tuesday, May 10, 2011, 15:25−15:40, Room 5E

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Mapping, Reactive and Sensor-Based Planning, Range Sensing

Abstract

In this paper, we present a multi-robot exploration strategy for map-building. We consider a team of robots with different sensing and motion capabilities. We combine geometric and probabilistic reasoning to propose a solution to our problem. We formalize the proposed solution using dynamic programming in states with imperfect information. We apply the dynamic programing technique in a reduced search space that allows us to incrementally explore the environment. We propose realistic sensor models and provide a method to compute the probability of the next sensor reading given the current state of the team of robots based on a Bayesian approach.

 

 

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