Distributed Multi-Robot Exploration

Typ: Fortschritt-Berichte VDI
Erscheinungsdatum: 08.07.2015
Reihe: 8
Band Nummer: 1242
Autor: Dipl.-Inform. Dominik Haumann
Ort: Heppenheim
ISBN: 978-3-18-524208-3
ISSN: 0178-9546
Erscheinungsjahr: 2015
Anzahl Seiten: 154
Anzahl Abbildungen: 49
Anzahl Tabellen: 2
Produktart: Buch (paperback, DINA5)


This dissertation introduces the DisCoverage paradigm. DisCoverage describes a novel scheme for distributed multi-robot exploration. The objective of the multi-robot exploration problem is to explore and map an a priori unknown environment as quick as possible with a group of auto­nomous robots. DisCoverage solves this problem through effective coordination of the group, such that the robots simultaneously explore different parts of the environment. In contrast to existing approaches, DisCoverage provides a distributed solution to the multi-robot exploration problem: Robots communicate and exchange data only with robots in the respective neighborhood, such that no central coordinating unit is required. As a result, the local data exchange among the ­robots allows the group to globally act as one team, facilitating robust and efficient exploration of the entire environment.

Keywords: 524208, 1242, Fortschritt-Berichte VDI, Reihe 8, Multi-robot exploration; Distributed optimization; Distributed systems; Coverage Problem,

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