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ATAL
2008
Springer

Adaptive multi-robot wide-area exploration and mapping

9 years 11 days ago
Adaptive multi-robot wide-area exploration and mapping
The exploration problem is a central issue in mobile robotics. A complete terrain coverage is not practical if the environment is large with only a few small hotspots. This paper presents an adaptive multi-robot exploration strategy that is novel in performing both wide-area coverage and hotspot sampling using non-myopic path planning. As a result, the environmental phenomena can be accurately mapped. It is based on a dynamic programming formulation, which we call the Multi-robot Adaptive Sampling Problem (MASP). A key feature of MASP is in covering the entire adaptivity spectrum, thus allowing strategies of varying adaptivity to be formed and theoretically analyzed in their performance; a more adaptive strategy improves mapping accuracy. We apply MASP to sampling the Gaussian and logGaussian processes, and analyze if the resulting strategies are adaptive and maximize wide-area coverage and hotspot sampling. Solving MASP is non-trivial as it comprises continuous state components. So, ...
Kian Hsiang Low, John M. Dolan, Pradeep K. Khosla
Added 12 Oct 2010
Updated 12 Oct 2010
Type Conference
Year 2008
Where ATAL
Authors Kian Hsiang Low, John M. Dolan, Pradeep K. Khosla
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