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2006
IEEE

Speeding-up Multi-robot Exploration by Considering Semantic Place Information

9 years 6 months ago
Speeding-up Multi-robot Exploration by Considering Semantic Place Information
— In this paper, we consider the problem of exploring an unknown environment with a team of mobile robots. One of the key issues in multi-robot exploration is how to assign target locations to the individual robots. To better distribute the robots over the environment and to avoid redundant work, we take into account the type of place a potential target is located in (e.g., a corridor or a room). To determine the type of a place, we apply a classifier learned with AdaBoost which additionally considers spatial dependencies between nearby locations. Our approach to incorporate the type of places in the coordination of the robots has been implemented and tested in different environments. The experiments demonstrate that our system effectively distributes the robots over the environment and allows them to accomplish their mission faster compared to approaches that ignore the semantic place labels. I. I The problem of exploring an environment belongs to...
Cyrill Stachniss, Óscar Martínez Moz
Added 11 Jun 2010
Updated 11 Jun 2010
Type Conference
Year 2006
Where ICRA
Authors Cyrill Stachniss, Óscar Martínez Mozos, Wolfram Burgard
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