Multi-robot Coordination for Energy-Efficient Exploration
This paper investigates the problem of multi-robot exploration in unknown environment situations. In order to build a coherent representation of the environment, a decentralized coordination approach is proposed to minimize the exploration time while considering the total motion energy saving of the...
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| Veröffentlicht in: | Journal of control, automation & electrical systems automation & electrical systems, 2019-12, Vol.30 (6), p.911-920 |
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| container_title | Journal of control, automation & electrical systems |
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| creator | Benkrid, Abdenour Benallegue, Abdelaziz Achour, Noura |
| description | This paper investigates the problem of multi-robot exploration in unknown environment situations. In order to build a coherent representation of the environment, a decentralized coordination approach is proposed to minimize the exploration time while considering the total motion energy saving of the mobile robots. The exploration target is defined as a segment of the environment including the frontiers between the unknown and the explored areas. Each robot evaluates its relative rank among the other robots of the team regarding energy consumption to reach this exploration target. As a result, the robot is assigned to the segment for which it has the lowest rank. An implementation on real robots and tests in simulation as well as a comparison with some existing approaches have been performed. The obtained results demonstrate the validity and the efficiency of the proposed method. |
| doi_str_mv | 10.1007/s40313-019-00508-4 |
| format | Article |
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The obtained results demonstrate the validity and the efficiency of the proposed method.</description><subject>Control</subject><subject>Control and Systems Theory</subject><subject>Coordination</subject><subject>Electrical Engineering</subject><subject>Energy conservation</subject><subject>Energy consumption</subject><subject>Engineering</subject><subject>Exploration</subject><subject>Mechatronics</subject><subject>Multiple robots</subject><subject>Robot dynamics</subject><subject>Robotics</subject><subject>Robotics and Automation</subject><subject>Robots</subject><subject>Unknown environments</subject><issn>2195-3880</issn><issn>2195-3899</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2019</creationdate><recordtype>article</recordtype><recordid>eNp9kEtLxDAUhYMoOIzzB1wVXEfvzaNNljLUB4y40XVo02ToUJuadMD593amojtX5y6-cy58hFwj3CJAcZcEcOQUUFMACYqKM7JgqCXlSuvz31vBJVmltAMAVMhQygXRL_tubGkMdRizdQixaftqbEOf-RCzsndxe6Cl961tXT9m5dfQhXgCrsiFr7rkVj-5JO8P5dv6iW5eH5_X9xtqOeqRSsib3KGovGY5Wuu1rpF5JSxKsIJpaFRRq7wGrnI1JeZgXQNMV1wW2vMluZl3hxg-9y6NZhf2sZ9eGsYRBArFxUSxmbIxpBSdN0NsP6p4MAjmaMnMlsxkyZwsmWOJz6U0wf3Wxb_pf1rf_eZodg</recordid><startdate>20191201</startdate><enddate>20191201</enddate><creator>Benkrid, Abdenour</creator><creator>Benallegue, Abdelaziz</creator><creator>Achour, Noura</creator><general>Springer US</general><general>Springer Nature B.V</general><scope>AAYXX</scope><scope>CITATION</scope><orcidid>https://orcid.org/0000-0001-7217-4040</orcidid></search><sort><creationdate>20191201</creationdate><title>Multi-robot Coordination for Energy-Efficient Exploration</title><author>Benkrid, Abdenour ; Benallegue, Abdelaziz ; Achour, Noura</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c319t-506d6e14af9261ccf99b12f84c150c4290d87b86b0386886b160ced029a3579f3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2019</creationdate><topic>Control</topic><topic>Control and Systems Theory</topic><topic>Coordination</topic><topic>Electrical Engineering</topic><topic>Energy conservation</topic><topic>Energy consumption</topic><topic>Engineering</topic><topic>Exploration</topic><topic>Mechatronics</topic><topic>Multiple robots</topic><topic>Robot dynamics</topic><topic>Robotics</topic><topic>Robotics and Automation</topic><topic>Robots</topic><topic>Unknown environments</topic><toplevel>online_resources</toplevel><creatorcontrib>Benkrid, Abdenour</creatorcontrib><creatorcontrib>Benallegue, Abdelaziz</creatorcontrib><creatorcontrib>Achour, Noura</creatorcontrib><collection>CrossRef</collection><jtitle>Journal of control, automation & electrical systems</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Benkrid, Abdenour</au><au>Benallegue, Abdelaziz</au><au>Achour, Noura</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Multi-robot Coordination for Energy-Efficient Exploration</atitle><jtitle>Journal of control, automation & electrical systems</jtitle><stitle>J Control Autom Electr Syst</stitle><date>2019-12-01</date><risdate>2019</risdate><volume>30</volume><issue>6</issue><spage>911</spage><epage>920</epage><pages>911-920</pages><issn>2195-3880</issn><eissn>2195-3899</eissn><abstract>This paper investigates the problem of multi-robot exploration in unknown environment situations. 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| subjects | Control Control and Systems Theory Coordination Electrical Engineering Energy conservation Energy consumption Engineering Exploration Mechatronics Multiple robots Robot dynamics Robotics Robotics and Automation Robots Unknown environments |
| title | Multi-robot Coordination for Energy-Efficient Exploration |
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