Entropy Gradient-based Exploration with Cooperative Robots in 3-D Mapping Missions
In Proc. of ICRA’2005 Workshop on
Cooperative Robotics, Int. Conf. on Robotics and Automation,
Abstract
Building cooperatively 3-D maps of unknown environments is one of the application fields of multi-robot systems. This article focuses on the exploration problem with multiple robots, starting upon a previously proposed successful distributed architecture. An entropy gradient-based algorithm is used to select exploration viewpoints in the frontier between explored and unexplored regions. The architecture is refined here with a mutual information-based coordination mechanism, whereby each robot selects new exploration viewpoints so that mutual information between robots’ individual visible maps is minimized and map’s uncertainty is decreased as fast as possible. Results obtained from experiments with real robots equipped with stereo-vision demonstrate how the entropy gradient-based method converges to a map with lower uncertainty. much new information as possible with every sensing cycle, so that the time needed to completely explore is minimized.
Index Terms — Multi-robot systems, cooperation, 3-D mapping, entropy, exploration, coordination.
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@INPROCEEDINGS(Rocha_et_al_05c,
AUTHOR = "Rocha, R. and Dias, J. and Carvalho, A.",
TITLE = "Entropy gradient-based exploration with cooperative robots in 3-\textsc{D} mapping missions",
BOOKTITLE = "Proc. of ICRA'2005 Workshop on Cooperative Robotics, IEEE Int. Conf. on Robotics and Automation",
ADDRESS
= "
YEAR = "2005",
MONTH = "Apr."
)
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Copyright ©
2006 Rui Rocha, Dep. of Electrical and Computer Engineering,