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Multi-Robot Simultaneous Coverage and Mapping of Complex Scene

Laëtitia Matignon 1, 2 Olivier Simonin 2, 3
1 SMA - Systèmes Multi-Agents
LIRIS - Laboratoire d'InfoRmatique en Image et Systèmes d'information
2 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 : In this demonstration, participants will explore a system for multi-robot observation of a complex scene involving the activity of a person. Mobile robots have to cooperate to find a position around the scene maximizing its coverage, i.e. allowing a complete view of the human skeleton. Simultaneously, they have to map the unknown environment around the scene. We developed a simulator presented in this paper that allows to generate an environment, a scene, and to simulate robots' observations and motion. During the demonstration, users will be able to test our simulator, including setting up a scenario and a decision algorithm, monitoring the movements, observations and maps of the robots, and visualizing the performance of the team.
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Submitted on : Friday, September 14, 2018 - 4:18:18 PM
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  • HAL Id : hal-01774799, version 1

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Laëtitia Matignon, Olivier Simonin. Multi-Robot Simultaneous Coverage and Mapping of Complex Scene. AAMAS 2018 - 17th International Conference on Autonomous Agents and Multiagent Systems - Demonstration, Jul 2018, Stockholm, Sweden. pp.1826-1828. ⟨hal-01774799⟩

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