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Multi-robot Cooperative Systems for Exploration : Advances in dealing with constrained communication environments

Benavides, Facundo and Monzón, Pablo and Ponzoni Carvalho Chanel, Caroline and Grampín, Eduardo Multi-robot Cooperative Systems for Exploration : Advances in dealing with constrained communication environments. (2016) In: 13th Latin American Robotics Symposium and 4th Brazilian Robotics Symposium (LARS/SBR), 8 October 2016 - 12 October 2016 (Recife, Brazil).

(Document in English)

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Official URL: http://dx.doi.org/10.1109/LARS-SBR.2016.37


In the present document, the authors introduce the Cooperative Exploration problem as well as the most relevant approaches in order to show the most common drawbacks and opportunities to improve the state of art solutions. Subsequently, a preliminary version of a multi-robot exploration proposal is described. The first results obtained in simulated scenarios support the underlying ideas are feasible and promising. They show that is possible to cope with real communication constraints (always present in practice), being more fault tolerant and still having good performance regarding the total exploration time. Next steps to fully implement a more reliable and robust system are discussed.

Item Type:Conference or Workshop Item (Paper)
Additional Information:Thanks to the IEEE (Institute of Electrical and Electronics Engineers). This paper is available at : http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=7781859 “© 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
HAL Id:hal-01449616
Audience (conference):International conference proceedings
Uncontrolled Keywords:
Institution:Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE-SUPAERO (FRANCE)
Other partners > Universidad de la República - UdelaR (URUGUAY)
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Deposited On:30 Jan 2017 14:56

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