More Web Proxy on the site http://driver.im/

article

Map Generation by Cooperative Low-Cost Robots inStructured Unknown Environments

Authors:

M. López-Sánchez,

R. López de Màntaras,

J. AmatAuthors Info & Claims

Autonomous Robots, Volume 5, Issue 1

Pages 53 - 61

https://doi.org/10.1023/A:1008813009105

Published: 01 March 1998 Publication History

Abstract

In this paper we present some results obtained with a troupe of low-cost robots designed to cooperatively explore unknown structured orthogonal environments. In order to improve the covering of the explored zone the robots show different behaviours (routine, normal and anxious) and cooperate by transferring each other the perceived environment when they meet; therefore, not all the information of the non-returning robots is lost provided that they had encountered robots that safely returned. The returning robots deliver to a host their perceived and communicated (by other robots) partial maps and the host incrementally generates the most plausible map of the environment. To perform the map generation, a fusion, completion and alignment process of the partial maps, based on fuzzy techniques, has been developed.

References

[1]

Alami, R., Chatilla, R., and Espiau, B. 1993. Designing an intelligent control architecture for autonomous robots. In Proc. 7th Int. Conf. on Advanced Robotics, Tokyo.

[2]

Betgé-Brezetz, Hébert, Chatila, and Devy 1996. Uncertain map making in natural environments. In Proc. IEEE: Int. Conf. on Robotics and Automation, pp. 1048-1053.

[3]

Brooks, R. A. 1986. A robust layered control system for a mobile robot. IEEE Journal of Robotics and Automation, RA-2(1):14-23.

[4]

Brooks, R. A. 1991. Intelligence without reason. In Proc. Int. Joint Conf. on Artificial Intelligence, Sydney, pp. 569-595.

[5]

Elfes, A. and Moravec, H. P. 1985. High resolution maps from wide angle sonar. In Proc. IEEE Int. Conf. on Robotics and Automation, St. Louis, MO, pp. 116-121.

[6]

Hager, G. D. 1990. Task-directed sensor fusion and planning: A computational approach. International Series in Engineering and Computer Science, Kluwer Academic Publishers: MA, Vol. SECS 99.

[7]

Hwan, J., Dong, L., and Cho, W. 1992. Physically based sensor modelling for a sonar map in a specular environment. In Proc. IEEE Int. Conf. on Robotics and Automation, Nice, France, pp. 1714-1719.

[8]

Kim, Hyup Ko and Jin, Chung 1994. Uncertain robot environment modelling using fuzzy numbers. Fuzzy Sets and Systems, 61:53- 62.

Digital Library

[9]

Kuc, R. and Siegel, M. W. 1987. Physically based simulation model for acoustic sensor robot navigation. IEEE Trans. Pattern Analysis Machine Learning, 9(6):766-778.

Digital Library

[10]

Lim, Cho 1992. Phisically based sensor modelling for sonar map in specular environment. In Proc. IEEE: Int. Conf. on Robotics and Automation, pp. 1714-1719.

[11]

López de Màntaras, R. 1990. Approximate reasoning models. Ellis Horwood Series in Artificial Intelligence, UK.

Digital Library

[12]

López-Sánchez, López de Màntaras, and Sierra 1997. Incremental map generation by low cost robots based on possibility/necessity grids. In Proc. Uncertainty in Artificial Intelligence, pp. 351-357.

Digital Library

[13]

Pagac, Nebot, and Durrant-White 1996. An evidential approach to probabilistic map-building. In Proc. IEEE: Int. Conf. on Robotics and Automation, pp. 745-750.

Digital Library

[14]

Poloni, M., Ulivi, G., and Vendittelli, M. 1995. Fuzzy logic and autonomous vehicles: Experiments in ultrasonic vision. Fuzzy Sets and Systems, 69:15-27.

Digital Library

[15]

Zadeh, A. 1978. Fuzzy sets as a basis for a theory of possibility. Fuzzy Sets and Systems, 1:3-28.

Cited By

Howard AMatarić MSukhatme G(2002)An Incremental Self-Deployment Algorithm for Mobile Sensor NetworksAutonomous Robots10.1023/A:101962520770513:2(113-126)Online publication date: 1-Sep-2002
https://dl.acm.org/doi/10.1023/A%3A1019625207705
López-Sánchez MLópez de Mántaras RSierra C(1999)Map generation by means of autonomous robots and possibility propagation techniquesProceedings of the third annual conference on Autonomous Agents10.1145/301136.301244(380-381)Online publication date: 1-Apr-1999
https://dl.acm.org/doi/10.1145/301136.301244

Map Generation by Cooperative Low-Cost Robots inStructured Unknown Environments
1. Computer systems organization
  1. Embedded and cyber-physical systems
2. Computing methodologies
  1. Artificial intelligence
    1. Control methods
    2. Planning and scheduling

Recommendations

Map generation by cooperative low-cost robots in structured unknown environments
Autonomous agents
Design and Simulation of Autonomous Mobile Robots Obstacle Avoidance System
LNCS on Transactions on Edutainment XIII - Volume 10092

Autonomous mobile robot is a completely unknown or partially unknown, of its complex environment, which requires the ability to avoid obstacles in order to move safely and avoid the collisions while navigating. To solve this problem, it opted to propose ...
Rescue Missions Bots using Active SLAM and Map Feature Extraction
ICCMA '16: Proceedings of the 4th International Conference on Control, Mechatronics and Automation

The main objective of our study is to implement a heterogeneous multi-robot system for mapping and exploration. We present a novel approach where the SLAM map is used to speed up the exploration process by extracting points of interest from the map and ...

Comments

Please enable JavaScript to view thecomments powered by Disqus.

Information & Contributors

Information

Published In

cover image Autonomous Robots

Autonomous Robots Volume 5, Issue 1

Special issue on autonomous agents

March 1998

117 pages

ISSN:0929-5593

Editor:
George A. Bekey
Univ. of Southern California

Issue’s Table of Contents

Copyright © Copyright © 1998 Kluwer Academic Publishers.

Publisher

Kluwer Academic Publishers

United States

Publication History

Published: 01 March 1998

Author Tags

Qualifiers

Article

Contributors

Other Metrics

View Article Metrics

Bibliometrics & Citations

Bibliometrics

Article Metrics

2
Total Citations
View Citations
0
Total Downloads

Downloads (Last 12 months)0
Downloads (Last 6 weeks)0

Reflects downloads up to 28 Jan 2025

Other Metrics

View Author Metrics

Citations

Cited By

Howard AMatarić MSukhatme G(2002)An Incremental Self-Deployment Algorithm for Mobile Sensor NetworksAutonomous Robots10.1023/A:101962520770513:2(113-126)Online publication date: 1-Sep-2002
https://dl.acm.org/doi/10.1023/A%3A1019625207705
López-Sánchez MLópez de Mántaras RSierra C(1999)Map generation by means of autonomous robots and possibility propagation techniquesProceedings of the third annual conference on Autonomous Agents10.1145/301136.301244(380-381)Online publication date: 1-Apr-1999
https://dl.acm.org/doi/10.1145/301136.301244

View Options

View options

Figures

Tables

Media

View Issue’s Table of Contents