NDLI: Path planning and environment understanding based on distributed sensing in distributed autonomous robotic system

Content Provider	IEEE Xplore Digital Library
Author	Cai, A. Fukuda, T. Arai, F. Yamada, K. Matsumura, S.
Copyright Year	1996
Description	Author affiliation: Sch. of Eng., Nagoya Univ., Japan (Cai, A.; Fukuda, T.; Arai, F.)
Abstract	This paper deals with the cooperative distributed sensing of a distributed autonomous robotic system (DARS) for unknown or partially known environment, and its application to path planning and environment representation. The basic problem to get optimal path and exact environmental representation for robots in unknown or partially known or dynamic environments is concerned with the robot sensing these environments. Because of the characteristics of sensing information in DARS-distributed in time-space-function, we propose that it is practical for each robot in DARS to use (integrate) sensing information of other robots for planning and reasoning so as to compensate the lack of a single robot's sensing capability. Through our simulations and experiments, the fact that the efficiency of path planning and map building in DARS are evidently raised based on proposed approach is shown.
Starting Page	699
Ending Page	704
File Size	709205
Page Count	6
File Format	PDF
ISBN	0780332199
DOI	10.1109/AMC.1996.509333
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1996-03-18
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Path planning Robot sensing systems Mobile robots Computer aided instruction Power engineering and energy Computational Intelligence Society Mobile communication Humans Uncertainty
Content Type	Text
Resource Type	Article

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