COMPARISON OF EXPLORATION STRATEGIES FOR MULTI-ROBOT SEARCH
| Autor: | Miroslav Kulich, Tomáš Juchelka, Libor Přeučil |
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| Jazyk: | angličtina |
| Rok vydání: | 2015 |
| Předmět: | |
| Zdroj: | Acta Polytechnica, Vol 55, Iss 3, Pp 162-168 (2015) |
| Druh dokumentu: | article |
| ISSN: | 1210-2709 1805-2363 |
| DOI: | 10.14311/AP.2015.55.0162 |
| Popis: | Searching for a stationary object in an unknown environment can be formulated as an iterative procedure consisting of map updating, selection of a next goal and navigation to this goal. It finishes when the object of interest is found. This formulation and a general search structure is similar to the related exploration problem. The only difference is in goal-selection, as search and exploration objectives are not the same. Although search is a key task in many search and rescue scenarios, the robotics community has paid little attention to the problem. There is no goal-selection strategy that has been designed specifically for search. In this paper, we study four state-of-the-art strategies for multi-robot exploration, and we evaluate their performance in various environments with respect to the expected time needed to find an object, i.e. to achieve the objective of the search. |
| Databáze: | Directory of Open Access Journals |
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