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dc.contributor.authorKalde , Nassim
dc.contributor.authorSimonin , Olivier
dc.contributor.authorCharpillet , François
dc.date.accessioned2017-02-09T09:56:19Z
dc.date.available2017-02-09T09:56:19Z
dc.date.issued2015
dc.identifier.citationActa Polytechnica. 2015, vol. 55, no. 3, p. 154-161.
dc.identifier.issn1210-2709 (print)
dc.identifier.issn1805-2363 (online)
dc.identifier.urihttp://hdl.handle.net/10467/67200
dc.description.abstractMulti-robot exploration consists in coordinating robots for mapping an unknown environment. It raises several issues concerning task allocation, robot control, path planning and communication. We study exploration in populated environments, in which pedestrian flows can severely impact performances. However, humans have adaptive skills for taking advantage of these flows while moving. Therefore, in order to exploit these human abilities, we propose a novel exploration strategy that explicitly allows for human-robot interactions. Our model for exploration in populated environments combines the classical frontier-based strategy with our interactive approach. We implement interactions where robots can locally choose a human guide to follow and define a parametric heuristic to balance interaction and frontier assignments. Finally, we evaluate to which extent human presence impacts our exploration model in terms of coverage ratio, travelled distance and elapsed time to completion.en
dc.format.mimetypeapplication/pdf
dc.language.isoeng
dc.publisherČeské vysoké učení technické v Prazecs
dc.publisherCzech Technical University in Pragueen
dc.relation.ispartofseriesActa Polytechnica
dc.relation.urihttps://ojs.cvut.cz/ojs/index.php/ap/article/view/3037
dc.rightsCreative Commons Attribution 4.0 International Licenseen
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/
dc.subjectartificial intelligenceen
dc.subjectmulti-agent systemen
dc.subjectrobotic explorationen
dc.subjecthuman-robot interactionen
dc.titleCOMPARISON OF CLASSICAL AND INTERACTIVE MULTIROBOT EXPLORATION STRATEGIES IN POPULATED ENVIRONMENTS
dc.typearticleen
dc.date.updated2017-02-09T09:56:19Z
dc.identifier.doihttps://doi.org/10.14311/AP.2015.55.0154
dc.rights.accessopenAccess
dc.type.statusPeer-reviewed
dc.type.versionpublishedVersion


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Except where otherwise noted, this item's license is described as Creative Commons Attribution 4.0 International License