Performance Analysis for Multi-robot Exploration Strategies

被引：0

作者：

Frank, Sebastian ^{[1
]}

Listmann, Kim ^{[1
]}

Haumann, Dominik ^{[1
]}

Willert, Volker ^{[1
]}

机构：

[1] Tech Univ Darmstadt, Control Theory & Robot Lab, Darmstadt, Germany

来源：

SIMULATION, MODELING, AND PROGRAMMING FOR AUTONOMOUS ROBOTS | 2010年 / 6472卷

关键词：

multi-robot exploration; coordination; distributed optimization; COVERAGE CONTROL; MOBILE;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this note, we compare four different exploration strategies and analyze the performance in terms of exploration time and amount of exploration per time step. In order to provide a suitable reference for comparison, we derive an upper bound for the theoretically achievable increase of explored area per time step. The comparison itself is done using a comprehensive empirical evaluation resulting in statistically significant performance differences.

引用

页码：399 / 410

页数：12

共 50 条

[1] Coordination strategies for multi-robot exploration and mapping
Nieto-Granda, Carlos
Rogers, John G., III
Christensen, Henrik I.
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2014, 33 (04): : 519 - 533
[2] COMPARISON OF EXPLORATION STRATEGIES FOR MULTI-ROBOT SEARCH
Kulich, Miroslav
Juchelka, Tomas
Preucil, Libor
ACTA POLYTECHNICA, 2015, 55 (03) : 162 - 168
[3] Metrics for Performance Benchmarking of Multi-robot Exploration
Yan, Zhi
Fabresse, Luc
Laval, Jannik
Bouraqadi, Noury
2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2015, : 3407 - 3414
[4] On Benchmarking of Frontier-Based Multi-Robot Exploration Strategies
Faigl, Jan
Kulich, Miroslav
2015 EUROPEAN CONFERENCE ON MOBILE ROBOTS (ECMR), 2015,
[5] Development strategies for multi-robot teams in context of planetary exploration
Brinkmann, Wiebke
Danter, Leon
Suresh, Amrita
Yueksel, Mehmed
Meder, Manuel
Kirchner, Frank
2024 INTERNATIONAL CONFERENCE ON SPACE ROBOTICS, ISPARO, 2024, : 64 - 69
[6] Multi-robot exploration strategies for tactical tasks in urban environments
Nieto-Granda, Carlos
Rogers, John G., III
Christensen, H. I.
UNMANNED SYSTEMS TECHNOLOGY XV, 2013, 8741
[7] Coordinated multi-robot exploration
Burgard, W
Moors, M
Stachniss, C
Schneider, FE
IEEE TRANSACTIONS ON ROBOTICS, 2005, 21 (03) : 376 - 386
[8] COMPARISON OF CLASSICAL AND INTERACTIVE MULTI-ROBOT EXPLORATION STRATEGIES IN POPULATED ENVIRONMENTS
Kalde, Nassim
Simonin, Olivier
Charpillet, Francois
ACTA POLYTECHNICA, 2015, 55 (03) : 154 - 161
[9] Evaluation of different frontier-based multi-robot exploration strategies
Benkrid, Abdenour
Benallegue, Abdelaziz
Achour, Noura
2015 3RD INTERNATIONAL CONFERENCE ON CONTROL, MECHATRONICS AND AUTOMATION (ICCMA 2015), 2016, 42
[10] Hybrid Vulture-Coordinated Multi-Robot Exploration: A Novel Algorithm for Optimization of Multi-Robot Exploration
El Romeh, Ali
Mirjalili, Seyedali
Gul, Faiza
MATHEMATICS, 2023, 11 (11)

← 1 2 3 4 5 →