NDLI: Combining Multi-robot Exploration and Rendezvous

Content Provider	IEEE Xplore Digital Library
Author	Meghjani, M. Dudek, G.
Copyright Year	2011
Abstract	We consider the problem of exploring an unknown environment with a pair of mobile robots. The goal is to make the robots meet (or rendezvous) in minimum time such that there is a maximum speed gain of the exploration task. The key challenge in achieving this goal is to rendezvous with the least possible dependency on communication. This single constraint involves several sub-problems: finding unique potential rendezvous locations in the environment, ranking these locations based on their uniqueness and synchronizing with the other robot to meet at one of the locations at a scheduled time. In addition, these tasks are to be performed simultaneously while exploring and mapping the environment. We propose an approach for efficiently combining the exploration and rendezvous tasks by considering the cost of reaching a rendezvous location and the reward of its uniqueness. This cost and reward model is combined with a set of deterministic and probabilistic rendezvous strategies for the robots to meet during exploration. Experimental results suggest that the joint tasks of exploration and rendezvous are substantially improved by ranking the potential rendezvous locations based on the combined cost-reward criterion when compared to the ranking solely based on the uniqueness of the location.
Starting Page	80
Ending Page	85
File Size	421695
Page Count	6
File Format	PDF
ISBN	9781612844305
DOI	10.1109/CRV.2011.18
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-25
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Current measurement Area measurement Robot sensing systems Extraterrestrial measurements Skeleton
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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