Collaborative mapping and navigation for a mobile robot swarm

Ioannis Arvanitakis, Anthony Tzes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The collaborative navigation of a team of ground mobile robots in an unknown planar environment towards fixed stationary targets is the subject of this paper. Each mobile robot is equipped with a limited field of view limited-range finder and a magnetometer to infer its orientation. Each target location is known, and a switching objective function initially guarantees the individual robots exploration towards its target area and afterwards safely guides each robot towards its target. During the collective exploration, the robots exchange their maps in a collaborative manner. If a robot detects the target that is assigned to another robot, it communicates this information to the corresponding robot and continues to explore its target. The other robot rather than performing exploration towards its already discovered target, it attempts to join its map with that of the reporting robot. Simulation results that prove the efficiency of the proposed scheme are presented.

Original languageEnglish (US)
Title of host publication2017 25th Mediterranean Conference on Control and Automation, MED 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages696-700
Number of pages5
ISBN (Electronic)9781509045334
DOIs
StatePublished - Jul 18 2017
Event25th Mediterranean Conference on Control and Automation, MED 2017 - Valletta, Malta
Duration: Jul 3 2017Jul 6 2017

Publication series

Name2017 25th Mediterranean Conference on Control and Automation, MED 2017

Other

Other25th Mediterranean Conference on Control and Automation, MED 2017
CountryMalta
CityValletta
Period7/3/177/6/17

ASJC Scopus subject areas

  • Control and Optimization
  • Modeling and Simulation

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  • Cite this

    Arvanitakis, I., & Tzes, A. (2017). Collaborative mapping and navigation for a mobile robot swarm. In 2017 25th Mediterranean Conference on Control and Automation, MED 2017 (pp. 696-700). [7984199] (2017 25th Mediterranean Conference on Control and Automation, MED 2017). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MED.2017.7984199