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Full-Text Articles in Computer Engineering
Thorough Exploration Of Complex Environments With A Space-Based Potential Field, Kenealy Alina, Nicholas Primiano, Alex Keyes, Lyons Damian
Thorough Exploration Of Complex Environments With A Space-Based Potential Field, Kenealy Alina, Nicholas Primiano, Alex Keyes, Lyons Damian
Faculty Publications
Robotic exploration, for the purposes of search and rescue or explosive device detection, can be improved by using a team of multiple robots. Potential field navigation methods offer natural and efficient distributed exploration algorithms in which team members are mutually repelled to spread out and cover the area efficiently. However, they also suffer from field minima issues. Liu and Lyons proposed a Space-Based Potential Field (SBPF) algorithm that disperses robots efficiently and also ensures they are driven in a distributed fashion to cover complex geometry. In this paper, the approach is modified to handle two problems with the original SBPF …
Leveraging Area Bounds Information For Autonomous Multi-Robot Exploration, Tsung-Ming Liu, Damian M. Lyons
Leveraging Area Bounds Information For Autonomous Multi-Robot Exploration, Tsung-Ming Liu, Damian M. Lyons
Faculty Publications
In this paper we propose an approach, the Space-Based Potential Field (SBPF) approach, to controlling multiple robots for area exploration missions that focus on robot dispersion. The SBPF method is based on a potential field approach that leverages knowledge of the overall bounds of the area to be explored. This additional information allows a simpler potential field control strategy for all robots but which nonetheless has good dispersion and overlap performance in all the multi-robot scenarios while avoiding potential minima. Both simulation and robot experimental results are presented as evidence.