Multi-Robot Simultaneous Coverage and Mapping of Complex Scene - Comparison of Different Strategies

Laëtitia Matignon 1, 2, 3 Olivier Simonin 2, 4, 3
1 SMA - Systèmes Multi-Agents
LIRIS - Laboratoire d'InfoRmatique en Image et Systèmes d'information
2 CITI - CITI Centre of Innovation in Telecommunications and Integration of services
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
4 INSA Lyon - Institut National des Sciences Appliquées de Lyon
Abstract : This paper addresses the problem of optimizing the observation of a human scene using several mobile robots. Mobile robots have to cooperate to find a position around the scene maximizing its coverage. The scene coverage is defined as the observation of the human pose skeleton. It is assumed that the robots can communicate but have no map of the environment. Thus the robots have to simultaneously cover and map the scene and the environment. We consider an incremental approach to master state-space complexity. Robots build an hybrid metric-topological map while evaluating the observation of the human pose skeleton. To this end we propose and evaluate different online optimization strategies exploiting local versus global information. We discuss the difference of the performance and cost. Experiments are performed both in simulation and with real robots.
Type de document :
Communication dans un congrès
M. Dastani, G. Sukthankar, E. Andre, S. Koenig. 17th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2018 ), Jul 2018, Stockholm, Sweden. pp.559-567, Proc. of the 17th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2018). 〈http://celweb.vuse.vanderbilt.edu/aamas18/〉
Liste complète des métadonnées

Littérature citée [2 références]  Voir  Masquer  Télécharger
https://hal.archives-ouvertes.fr/hal-01726120
Contributeur : Olivier Simonin <>
Soumis le : vendredi 27 juillet 2018 - 11:24:10
Dernière modification le : vendredi 27 juillet 2018 - 11:41:46

Fichier

aamas2018HAL.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : hal-01726120, version 1

Collections

LIRIS | EC-LYON | INSA-LYON | UNIV-LYON2 | UNIV-LYON1 | INRIA

Citation

Laëtitia Matignon, Olivier Simonin. Multi-Robot Simultaneous Coverage and Mapping of Complex Scene - Comparison of Different Strategies. M. Dastani, G. Sukthankar, E. Andre, S. Koenig. 17th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2018 ), Jul 2018, Stockholm, Sweden. pp.559-567, Proc. of the 17th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2018). 〈http://celweb.vuse.vanderbilt.edu/aamas18/〉. 〈hal-01726120〉

Exporter

BibTeX TEI DC DCterms EndNote

Partager

Métriques

Consultations de la notice

294

Téléchargements de fichiers

22

Contact

support.ccsd.cnrs.fr
hal.support@ccsd.cnrs.fr
Logo CCSD