Fast wall-following exploration with two cooperating mobile robots

M. Al Khawaldah; S. Livatino

doi:10.1109/ISIE.2010.5637013

Fast wall-following exploration with two cooperating mobile robots

M. Al Khawaldah
, S. Livatino

Research output: Chapter in Book/Report/Conference proceeding › Chapter

1 Citation (Scopus)

132 Downloads (Pure)

Abstract

In this paper two cooperating robots are used to explore an unknown environment. The new technique aims to decrease the exploration time and the energy consumption. It combines the wall-following exploration algorithm and frontier-based exploration technique. In the proposed algorithm the robots detect the walls and scan different parts of the environment as quick as they can. Then they employ frontier-based algorithm to complete exploring the remained unexplored areas. During these two stages, the robots sweep the line-of-sight between them in each step to maximize the exploration efficiency.

Original language	English
Title of host publication	IEEE International Symposium on Industrial Electronics Art. No. 5637013
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	2841-2846
ISBN (Print)	978-1-4244-6390-9
DOIs	https://doi.org/10.1109/ISIE.2010.5637013
Publication status	Published - 2010

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10.1109/ISIE.2010.5637013

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This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder." “Copyright IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.

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title = "Fast wall-following exploration with two cooperating mobile robots",

abstract = "In this paper two cooperating robots are used to explore an unknown environment. The new technique aims to decrease the exploration time and the energy consumption. It combines the wall-following exploration algorithm and frontier-based exploration technique. In the proposed algorithm the robots detect the walls and scan different parts of the environment as quick as they can. Then they employ frontier-based algorithm to complete exploring the remained unexplored areas. During these two stages, the robots sweep the line-of-sight between them in each step to maximize the exploration efficiency.",

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year = "2010",

doi = "10.1109/ISIE.2010.5637013",

language = "English",

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AU - Livatino, S.

N1 - This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder." “Copyright IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.

PY - 2010

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AB - In this paper two cooperating robots are used to explore an unknown environment. The new technique aims to decrease the exploration time and the energy consumption. It combines the wall-following exploration algorithm and frontier-based exploration technique. In the proposed algorithm the robots detect the walls and scan different parts of the environment as quick as they can. Then they employ frontier-based algorithm to complete exploring the remained unexplored areas. During these two stages, the robots sweep the line-of-sight between them in each step to maximize the exploration efficiency.

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BT - IEEE International Symposium on Industrial Electronics Art. No. 5637013

PB - Institute of Electrical and Electronics Engineers (IEEE)

ER -

Fast wall-following exploration with two cooperating mobile robots

Abstract

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