Zobrazit minimální záznam



dc.contributor.authorMatignon , Laetitia
dc.contributor.authorJeanpierre , Laurent
dc.contributor.authorMouaddib , Abdel-Illah
dc.date.accessioned2017-02-09T09:56:25Z
dc.date.available2017-02-09T09:56:25Z
dc.date.issued2015
dc.identifier.citationActa Polytechnica. 2015, vol. 55, no. 3, p. 169-176.
dc.identifier.issn1210-2709 (print)
dc.identifier.issn1805-2363 (online)
dc.identifier.urihttp://hdl.handle.net/10467/67202
dc.description.abstractIn a recent French robotic contest, the objective was to develop a multi-robot system able to autonomously map and explore an unknown area while also detecting and localizing objects. As a participant in this challenge, we proposed a new decentralized Markov decision process (Dec-MDP) resolution based on distributed value functions (DVF) to compute multi-robot exploration strategies. The idea is to take advantage of sparse interactions by allowing each robot to calculate locally a strategy that maximizes the explored space while minimizing robots interactions. In this paper, we propose an adaptation of this method to improve also object recognition by integrating into the DVF the interest in covering explored areas with photos. The robots will then act to maximize the explored space and the photo coverage, ensuring better perception and object recognition.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/3040
dc.rightsCreative Commons Attribution 4.0 International Licenseen
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/
dc.subjectcooperative multi-robot systemsen
dc.subjectrobot coordinationen
dc.subjectrobot planningen
dc.subjectmulti-robot explorationen
dc.subjectactive perceptionen
dc.titleDECENTRALIZED MULTI-ROBOT PLANNING TO EXPLORE AND PERCEIVE
dc.typearticleen
dc.date.updated2017-02-09T09:56:25Z
dc.identifier.doi10.14311/AP.2015.55.0169
dc.rights.accessopenAccess
dc.type.statusPeer-reviewed
dc.type.versionpublishedVersion


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Zobrazit minimální záznam

Creative Commons Attribution 4.0 International License
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