NDLI: A two phase recursive tree propagation based multi-robotic exploration framework with fixed base station constraint

Content Provider	IEEE Xplore Digital Library
Author	Mukhija, P. Krishna, K.M. Krishna, V.
Copyright Year	2010
Description	Author affiliation: Department of Computer Science, IIIT Hyderabad, Gachibowli, Andhra Pradesh, India (Mukhija, P.; Krishna, V.) \|\| Faculty of Computer Science, IIIT Hyderabad, Gachibowli, Andhra Pradesh, India (Krishna, K.M.)
Abstract	A multi-robotic exploration with the requirement of communication link to a fixed base station is presented in this paper. The robots organize themselves into roles of maintainers of communication (hinged robots or robot nodes) or explorers of the environment ensuring that every robot is in contact with the base station directly or through the hinged robots. A two phased strategy for the same is presented. The first phase is characterized by a recursive growth of trees that starts from the root node or the base station and then repeated from other nodes of the hitherto grown tree in a depth first fashion. The second phase constitutes the recursive tree growth invoked repeatedly from the frontier nodes. While the first phase rapidly explores areas around the base station in a concentric fashion, the second phase extends the depth of the explored area to increase the limits of coverage. The strategy is consistent in that none of the robots loose contact with the base station. Extensive simulations confirm the efficacy of the method and comparisons portray performance gain in terms of exploration time and absence of deadlocks vis-a-vis the few methods previously reported in the literature.
Starting Page	4806
Ending Page	4811
File Size	1112119
Page Count	6
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5649864
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Base stations Robot kinematics Fasteners Pixel Computational modeling
Content Type	Text
Resource Type	Article

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