Distributed Multi-Robot Exploration

Produktbeschreibung

This dissertation introduces the DisCoverage paradigm. DisCoverage describes a novel scheme for distributed multi-robot exploration. The objective of the multi-robot exploration problem is to explore and map an a priori unknown environment as quick as possible with a group of auto­nomous robots. DisCoverage solves this problem through effective coordination of the group, such that the robots simultaneously explore different parts of the environment. In contrast to existing approaches, DisCoverage provides a distributed solution to the multi-robot exploration problem: Robots communicate and exchange data only with robots in the respective neighborhood, such that no central coordinating unit is required. As a result, the local data exchange among the ­robots allows the group to globally act as one team, facilitating robust and efficient exploration of the entire environment.

Keywords: 524208, 1242, Fortschritt-Berichte VDI, Reihe 8, Multi-robot exploration; Distributed optimization; Distributed systems; Coverage Problem,