Multi-robot flooding algorithm for the exploration of unknown indoor environments

Flavio Cabrera; Jizhong Xiao; Peter Brass

doi:10.1109/ROBOT.2010.5509522

Multi-robot flooding algorithm for the exploration of unknown indoor environments

Flavio Cabrera, Jizhong Xiao, Peter Brass

Division of Engineering, Business & Computing (Berks)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (SciVal)

Abstract

In this paper we study the problem of multi-robot exploration of unknown indoor environments that are modeled as trees. Specifically, our approach consider that robots deploy and communicate with active landmarks in every intersection they encounter. We present a novel algorithm that is guaranteed to completely explore any tree with m edges and diameter D, by allowing k robots to be fed into the tree one at a time. We prove that the exploration time of the algorithm grows in linear proportion with the size of the tree and is not bigger than D+m. Simulation results are presented that corroborate the theoretical analysis.

Original language	English (US)
Title of host publication	2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Pages	5478-5483
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2010.5509522
State	Published - Aug 26 2010
Event	2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States Duration: May 3 2010 → May 7 2010

Other

Other	2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Country/Territory	United States
City	Anchorage, AK
Period	5/3/10 → 5/7/10

All Science Journal Classification (ASJC) codes

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ROBOT.2010.5509522

Cite this

@inproceedings{7361145757744119a74ced186ae23e98,

title = "Multi-robot flooding algorithm for the exploration of unknown indoor environments",

abstract = "In this paper we study the problem of multi-robot exploration of unknown indoor environments that are modeled as trees. Specifically, our approach consider that robots deploy and communicate with active landmarks in every intersection they encounter. We present a novel algorithm that is guaranteed to completely explore any tree with m edges and diameter D, by allowing k robots to be fed into the tree one at a time. We prove that the exploration time of the algorithm grows in linear proportion with the size of the tree and is not bigger than D+m. Simulation results are presented that corroborate the theoretical analysis.",

author = "Flavio Cabrera and Jizhong Xiao and Peter Brass",

year = "2010",

month = aug,

day = "26",

doi = "10.1109/ROBOT.2010.5509522",

language = "English (US)",

isbn = "9781424450381",

pages = "5478--5483",

booktitle = "2010 IEEE International Conference on Robotics and Automation, ICRA 2010",

note = "2010 IEEE International Conference on Robotics and Automation, ICRA 2010 ; Conference date: 03-05-2010 Through 07-05-2010",

}

Cabrera, F, Xiao, J & Brass, P 2010, Multi-robot flooding algorithm for the exploration of unknown indoor environments. in 2010 IEEE International Conference on Robotics and Automation, ICRA 2010., 5509522, pp. 5478-5483, 2010 IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, AK, United States, 5/3/10. https://doi.org/10.1109/ROBOT.2010.5509522

TY - GEN

T1 - Multi-robot flooding algorithm for the exploration of unknown indoor environments

AU - Cabrera, Flavio

AU - Xiao, Jizhong

AU - Brass, Peter

PY - 2010/8/26

Y1 - 2010/8/26

N2 - In this paper we study the problem of multi-robot exploration of unknown indoor environments that are modeled as trees. Specifically, our approach consider that robots deploy and communicate with active landmarks in every intersection they encounter. We present a novel algorithm that is guaranteed to completely explore any tree with m edges and diameter D, by allowing k robots to be fed into the tree one at a time. We prove that the exploration time of the algorithm grows in linear proportion with the size of the tree and is not bigger than D+m. Simulation results are presented that corroborate the theoretical analysis.

AB - In this paper we study the problem of multi-robot exploration of unknown indoor environments that are modeled as trees. Specifically, our approach consider that robots deploy and communicate with active landmarks in every intersection they encounter. We present a novel algorithm that is guaranteed to completely explore any tree with m edges and diameter D, by allowing k robots to be fed into the tree one at a time. We prove that the exploration time of the algorithm grows in linear proportion with the size of the tree and is not bigger than D+m. Simulation results are presented that corroborate the theoretical analysis.

UR - http://www.scopus.com/inward/record.url?scp=77955826090&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=77955826090&partnerID=8YFLogxK

U2 - 10.1109/ROBOT.2010.5509522

DO - 10.1109/ROBOT.2010.5509522

M3 - Conference contribution

AN - SCOPUS:77955826090

SN - 9781424450381

SP - 5478

EP - 5483

BT - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010

T2 - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010

Y2 - 3 May 2010 through 7 May 2010

ER -

Multi-robot flooding algorithm for the exploration of unknown indoor environments

Abstract

Other

All Science Journal Classification (ASJC) codes

Access to Document

Other files and links

Fingerprint

Cite this