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Comparison of Classical and Interactive Multi-Robot Exploration Strategies in Populated Environments

Nassim Kaldé 1, 2 Olivier Simonin 3 François Charpillet 2, 1
2 LARSEN - Lifelong Autonomy and interaction skills for Robots in a Sensing ENvironment
Inria Nancy - Grand Est, LORIA - AIS - Department of Complex Systems, Artificial Intelligence & Robotics
3 CHROMA - Robots coopératifs et adaptés à la présence humaine en environnements dynamiques
Inria Grenoble - Rhône-Alpes, CITI - CITI Centre of Innovation in Telecommunications and Integration of services
Abstract : Multi-robot exploration consists in coordinating robots for mapping an unknown environment. It raises several issues concerning task allocation, robot control, path planning and communication. We study exploration in populated environments, in which pedestrian flows can severely impact performances. However, humans have adaptive skills for taking advantage of these flows while moving. Therefore, in order to exploit these human abilities, we propose a novel exploration strategy that explicitly allows for human-robot interactions. Our model for exploration in populated environments combines the classical frontier-based strategy with our interactive approach. We implement interactions where robots can locally choose a human guide to follow and define a parametric heuristic to balance interaction and frontier assignments. Finally, we evaluate to which extent human presence impacts our exploration model in terms of coverage ratio, travelled distance and elapsed time to completion.
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Contributor : Olivier Simonin <>
Submitted on : Tuesday, September 1, 2015 - 9:30:02 PM
Last modification on : Wednesday, July 8, 2020 - 12:43:50 PM

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Nassim Kaldé, Olivier Simonin, François Charpillet. Comparison of Classical and Interactive Multi-Robot Exploration Strategies in Populated Environments. Acta Polytechnica, Czech Technical University in Prague, 2015, 55 (3), pp.154-161. ⟨10.14311/AP.2015.55.0154⟩. ⟨hal-01191456⟩



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