A Multirobot System for Distributed Area Coverage and Signal Searching in Large Outdoor Scenarios*
| Autor: | Leandro Cancar, João Valente, Jaime del Cerro, Antonio Barrientos, Mario Garzón, Juan Jesús Roldán |
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| Rok vydání: | 2015 |
| Předmět: |
0209 industrial biotechnology
Engineering business.industry Real-time computing Bandwidth (signal processing) SIGNAL (programming language) Robotics Location systems 02 engineering and technology Field (computer science) Computer Science Applications 020901 industrial engineering & automation Control and Systems Engineering Area coverage 0202 electrical engineering electronic engineering information engineering Field size Robot 020201 artificial intelligence & image processing Artificial intelligence business |
| Zdroj: | Journal of Field Robotics. 33:1087-1106 |
| ISSN: | 1556-4959 |
| DOI: | 10.1002/rob.21636 |
| Popis: | This work presents a complete multirobot solution for signal searching tasks in large outdoor scenarios. An evaluation of two different coverage path-planning strategies according to field size and shape is presented. A signal location system developed to simulate mines or chemical source detections is also described. The solution presented is a pioneer in evaluating multimaster robotics operative system architectures with a fleet of robots in real scenarios. This solution minimizes the use of communications bandwidth required for full operation. Finally, field results are provided, and the advantages of the implemented solution are analyzed. |
| Databáze: | OpenAIRE |
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