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Conference Paper
Cooperative Multi-Robot Searching Algorithm
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- Authors
- Seohyun Jeon, Minsu Jang, Daeha Lee, Young-Jo Cho
- Issue Date
- 2012-06
- Citation
- International Conference on Intelligent Autonomous Systems (IAS) 2012, pp.749-756
- Language
- English
- Type
- Conference Paper
- Abstract
- The problem of multi-robot for searching mission with fully communicative known environment is considered in this paper. Robots are required to maneuver every part of the given environment repeatedly until they find a target object. In order to increase the effectiveness of deploying the mult-robot, they need to be spread out sufficiently, not overlapping the searching area with other robots. To achieve this, we proposed an algorithm about deploying the multi-robot with maximizing the on-line coverage of the searching area. A shared dynamic map and its updating algorithm is proposed. Robots find next exploration area autonomously while updating the shared dynamic map. The algorithm is tested by simulation and the result is presented. © 2013 Springer-Verlag.
- KSP Keywords
- Dynamic map, Line Coverage, Multi-Robot, Searching Area, Searching algorithm, on-line, target object