NDLI: Cooperative robot team navigation strategies based on an environment model

Content Provider	IEEE Xplore Digital Library
Author	Urcola, P. Montano, L.
Copyright Year	2009
Description	Author affiliation: Instituto de Investigación en Ingeniería de Aragón, Universidad de Zaragoza (Spain) (Urcola, P.; Montano, L.)
Abstract	This paper addresses a flexible cooperative navigation system for small robot teams. The members of these groups move in formation, but with enough flexibility to be able to avoid obstacles and adapt to the environment shape. This approach is based on an analysis of the environment on a grid-based model that permits each robot to continuously evaluate the situation in which it is, in order to decide the best of the three developed navigation strategies, one for each situation type. Moreover, by using this model the robot cooperation for a coordinate navigation is improved, allowing each robot to share the observations with the other robots. So the field of view of each robot of the team on which it makes the decisions is enlarged. The system is implemented in a decentralized way so the number of robots is not a main issue, thus being scalable. Eventually, initial formation topology can be modified, in order to comply with the environment while the mission is accomplished. The system and the strategies are evaluated by means of simulations, showing the robustness against possible blocking situations.
Starting Page	4577
Ending Page	4583
File Size	362487
Page Count	7
File Format	PDF
ISBN	9781424438037
DOI	10.1109/IROS.2009.5354243
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-10-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Navigation Robot kinematics Shape Intelligent robots Robot sensing systems Orbital robotics Topology Motion control Proposals USA Councils
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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