Unknown Building Exploration Simulator (UBES)

被引：0
|
作者：
Allred, Christopher [1 ]
Kocabas, Huzeyfe [1 ]
Harper, Mario [1 ]
机构：
[1] Utah State Univ, Logan, UT 84322 USA
来源：
SOFTWARE IMPACTS | 2023年 / 18卷
关键词：
Simulation software; Unknown Building Exploration; Multi-agent; Hazardous building exploration; Unknown environments;
D O I：
10.1016/j.simpa.2023.100576
中图分类号：
TP31 [计算机软件];
学科分类号：
081202 ; 0835 ;
摘要：
The Unknown Building Exploration Simulator (UBES) software is built to investigate effective strategies for multi-robot exploration of unknown, indoor environments. The software allows the assessment of different exploration techniques, offering the flexibility to modify initial and target conditions, and account for potential agent loss. A total of 12 distinct algorithms commonly used in modern multi-robot exploration are implemented for baseline analysis. The simulation software includes complex building environments that can be user-defined or randomly generated according to several adjustable parameters. Agents also include user-modifiable features such as agent count, sensor range, LiDar characteristics, and inter-agent communication capability.
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页数：5
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