Brick& Mortar: an on-line multi-agent exploration algorithm
Brick& Mortar: an on-line multi-agent exploration algorithm
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砖
DOI：
10.1109/robot.2007.363078
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发表时间：
2007
期刊：
影响因子：
--
通讯作者：
M. Levene
中科院分区：
文献类型：
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作者：
E. Ferranti;A. Trigoni;M. Levene
当建筑物内发生紧急情况时，必须尽快探索该地区，以便找到受害者并识别危险。我们提出了Brick&Mortar，这是一种由一组移动的节点（称为代理）自主探索未知地形的算法。由于在室内环境中的无线通信的不可靠性和短距离，我们建议代理间接地与对方进行通信，通过标记的环境。智能体没有地形图的先验知识，但能够协调以探索具有不同拓扑特征的各种地形。在我们的实验评估中，我们表明，砖和砂浆显着优于竞争算法，即蚂蚁和多深度优先搜索，在探索时间。观察到的性能优势表明，我们的算法是适合于安全关键型应用程序，需要快速的区域覆盖的实时事件检测和响应。
When an emergency occurs within a building, it is critical to explore the area as fast as possible in order to find victims and identify hazards. We propose Brick&Mortar, an algorithm for the autonomous exploration of unknown terrains by a team of mobile nodes, referred to as agents. Because of the unreliability and short range of wireless communications in an indoor environment we suggest that agents communicate indirectly with each other by tagging the environment. Agents have no prior knowledge of the terrain map, but are able to coordinate in order to explore a variety of terrains with different topological features. In our experimental evaluation, we show that Brick&Mortar significantly outperforms the competing algorithms, namely ants and multiple depth first search, in terms of exploration time. The observed performance benefits suggest that our algorithm is suitable for safety-critical applications that require rapid area coverage for real-time event detection and response.