کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
9654533 680584 2005 30 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Cooperative multi-robot systems:
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
Cooperative multi-robot systems:
چکیده انگلیسی
Building cooperatively 3-D maps of unknown environments is one of the application fields of multi-robot systems. This article addresses that problem through a probabilistic approach based on information theory. A distributed cooperative architecture model is formulated whereby robots exhibit cooperation through efficient information sharing. A probabilistic model of a 3-D map and a statistical sensor model are used to update the map upon range measurements, with an explicit representation of uncertainty through the definition of the map's entropy. Each robot is able to build a 3-D map upon measurements from its own range sensor and is committed to cooperate with other robots by sharing useful measurements. An entropy-based measure of information utility is used to define a cooperation strategy for sharing useful information, without overwhelming communication resources with redundant or unnecessary information. Each robot reduces the map's uncertainty by exploring maximum information viewpoints, by using its current map to drive its sensor to frontier regions having maximum entropy gradient. The proposed framework is validated through experiments with mobile robots equipped with stereo-vision sensors.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 53, Issues 3–4, 31 December 2005, Pages 282-311
نویسندگان
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