COMPARISON OF EXPLORATION STRATEGIES FOR MULTI-ROBOT SEARCH
dc.contributor.author | Kulich , Miroslav | |
dc.contributor.author | Juchelka , Tomáš | |
dc.contributor.author | Přeučil , Libor | |
dc.date.accessioned | 2017-02-09T09:56:22Z | |
dc.date.available | 2017-02-09T09:56:22Z | |
dc.date.issued | 2015 | |
dc.identifier.citation | Acta Polytechnica. 2015, vol. 55, no. 3, p. 162-168. | |
dc.identifier.issn | 1210-2709 (print) | |
dc.identifier.issn | 1805-2363 (online) | |
dc.identifier.uri | http://hdl.handle.net/10467/67201 | |
dc.description.abstract | Searching for a stationary object in an unknown environment can be formulated as an iterative procedure consisting of map updating, selection of a next goal and navigation to this goal. It finishes when the object of interest is found. This formulation and a general search structure is similar to the related exploration problem. The only difference is in goal-selection, as search and exploration objectives are not the same. Although search is a key task in many search and rescue scenarios, the robotics community has paid little attention to the problem. There is no goal-selection strategy that has been designed specifically for search. In this paper, we study four state-of-the-art strategies for multi-robot exploration, and we evaluate their performance in various environments with respect to the expected time needed to find an object, i.e. to achieve the objective of the search. | en |
dc.format.mimetype | application/pdf | |
dc.language.iso | eng | |
dc.publisher | České vysoké učení technické v Praze | cs |
dc.publisher | Czech Technical University in Prague | en |
dc.relation.ispartofseries | Acta Polytechnica | |
dc.relation.uri | https://ojs.cvut.cz/ojs/index.php/ap/article/view/3039 | |
dc.rights | Creative Commons Attribution 4.0 International License | en |
dc.rights.uri | http://creativecommons.org/licenses/by/4.0/ | |
dc.subject | mobile robots, multi-robot systems, planning, search, exploration | en |
dc.title | COMPARISON OF EXPLORATION STRATEGIES FOR MULTI-ROBOT SEARCH | |
dc.type | article | en |
dc.date.updated | 2017-02-09T09:56:22Z | |
dc.identifier.doi | 10.14311/AP.2015.55.0162 | |
dc.rights.access | openAccess | |
dc.type.status | Peer-reviewed | |
dc.type.version | publishedVersion |
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