Efficient Information Sharing and Coordination in Cooperative Multi-Robot Systems

Rui Rocha

In Proc. of II European-Latin-American Workshop on Engineering Systems (SELASI’2006)
Porto, Portugal, Jun. 22, 2006.

Abstract

Multi-robot systems involve the distribution of robotic resources and information. Being an opportunity, they require cooperation among robots so that potential advantages of distribution become effective. Cooperation requires in turn efficiently sharing information and proper coordination. This article extends previous work, regarding efficient information sharing in the context of volumetric mapping, with a coordinated exploration method based on mutual information minimization. Experimental data obtained with multi-robot systems varying in size demonstrate the performance gain due to the proposed coordination method.

Index Terms — Multi-robot systems, cooperation, coordination, information utility, 3-D mapping, exploration.

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BibTeX

@INPROCEEDINGS(Rocha_06,

AUTHOR = "Rocha, R",

TITLE = "Efficient Information Sharing and Coordination in Cooperative Multi-Robot Systems",

BOOKTITLE = "Proc. of II European-Latin-American Workshop on Engineering Systems (SELASI’2006)",

ADDRESS = "Porto, Portugal",

YEAR = "2006",

MONTH = "Jun."

)

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Last update: 20/06/2006