Collaborative Robot Exploration and Rendezvous
Collaborative Robot Exploration and Rendezvous
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协作机器人探索与交会
DOI：
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发表时间：
2002
期刊：
影响因子：
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通讯作者：
G. Dudek
中科院分区：
文献类型：
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作者：
G. Dudek
我们考虑的问题，两个异构的机器人可以安排，以满足在一个未知的环境中从未知的起始位置：也就是说，安排机器人会合的问题。我们特别感兴趣的是，让两个机器人会合，使他们能够合作探索未知的环境。具体地说，我们解决的问题，一对探索代理，不能与另一个长距离的通信可以满足，如果他们开始探索在dieren t未知的位置在一个未知的环境。我们提出了几种替代算法，机器人可以使用在尝试快速会合，同时继续探索。这些算法包括不同的策略类别，其相对适用性取决于问题的特征。我们认为我们提出的算法的性能分析方面的预期和最坏情况下的行为。然后，我们研究他们的行为在更广泛的条件下，使用数值分析和模拟的多智能体探索和会合。我们研究的探索速度，并表明，一个多机器人系统可以探索一个未知的环境比单代理系统更快，即使约束执行交会，以允许通信。最后，我们与一对实际的机器人上实现的会合演示。
We consider the problem of how two heterogeneous robots can arrange to meet in an unknown environment from unknown starting locations: that is, the problem of arranging a robot rendezvous. We are interested, in particular, in allow- ing two robots to rendezvous so that they can collaboratively explore an unknown environment. Specically , we address the problem of how a pair of exploring agents that cannot communicate with one another over long distances can meet if they start exploring at dieren t unknown locations in an unknown environment. We propose several alternative algorithms that robots could use in attempting to rendezvous quickly while continuing to explore. These algorithms exemplify dieren t classes of strategy whose relative suitability depends on characteristics of the prob- lem denition. We consider the performance of our proposed algorithms analytically with respect to both expected- and worst-case behaviour. We then examine their behaviour under a wider set of conditions using both numerical analysis and also a simulation of multi-agent exploration and rendezvous. We examine the exploration speed, and show that a multi-robot system can explore an unknown environment faster than a single-agent system, even with the constraint of performing rendezvous to allow communication. We conclude with a demonstration of rendezvous implemented on a pair of actual robots.