Task coordination for multiple mobile robots considering semantic and topological information

Ankit A. Ravankar, Abhijeet Ravankar, Chao Chung Peng, Yukinori Kobayashi, Takanori Emaru

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents task coordination scheme for multiple mobile robots in indoor environment. Multi-robot systems are gaining a lot of popularity for different applications in indoor and outdoor environments and for executing various tasks in different scenarios. The advantage with multi-robot systems is efficiency by which a task can be completed as compared to single robot system thus allowing more autonomy to the task at hand. In this paper, we present novel techniques for multi-robot system operating in indoor office like environment using semantic mapping. A mapping and navigation algorithm is discussed that uses topological and metric maps. We demonstrate through simulations and experiments, the coordination strategy and discuss the results.

Original languageEnglish
Title of host publicationProceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018
EditorsArtde Donald Kin-Tak Lam, Stephen D. Prior, Teen-Hang Meen
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1088-1091
Number of pages4
ISBN (Electronic)9781538643426
DOIs
Publication statusPublished - 2018 Jun 22
Event4th IEEE International Conference on Applied System Innovation, ICASI 2018 - Chiba, Japan
Duration: 2018 Apr 132018 Apr 17

Publication series

NameProceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018

Other

Other4th IEEE International Conference on Applied System Innovation, ICASI 2018
CountryJapan
CityChiba
Period18-04-1318-04-17

Fingerprint

Multi-robot Systems
Mobile Robot
Mobile robots
Semantics
Robots
Navigation
Robot
Metric
Scenarios
Demonstrate
Experiment
Simulation
Experiments

All Science Journal Classification (ASJC) codes

  • Computer Networks and Communications
  • Hardware and Architecture
  • Energy Engineering and Power Technology
  • Control and Systems Engineering
  • Mechanical Engineering
  • Control and Optimization
  • Modelling and Simulation
  • Biomedical Engineering

Cite this

Ravankar, A. A., Ravankar, A., Peng, C. C., Kobayashi, Y., & Emaru, T. (2018). Task coordination for multiple mobile robots considering semantic and topological information. In A. D. K-T. Lam, S. D. Prior, & T-H. Meen (Eds.), Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018 (pp. 1088-1091). (Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICASI.2018.8394468
Ravankar, Ankit A. ; Ravankar, Abhijeet ; Peng, Chao Chung ; Kobayashi, Yukinori ; Emaru, Takanori. / Task coordination for multiple mobile robots considering semantic and topological information. Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018. editor / Artde Donald Kin-Tak Lam ; Stephen D. Prior ; Teen-Hang Meen. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 1088-1091 (Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018).
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author = "Ravankar, {Ankit A.} and Abhijeet Ravankar and Peng, {Chao Chung} and Yukinori Kobayashi and Takanori Emaru",
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Ravankar, AA, Ravankar, A, Peng, CC, Kobayashi, Y & Emaru, T 2018, Task coordination for multiple mobile robots considering semantic and topological information. in ADK-T Lam, SD Prior & T-H Meen (eds), Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018. Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018, Institute of Electrical and Electronics Engineers Inc., pp. 1088-1091, 4th IEEE International Conference on Applied System Innovation, ICASI 2018, Chiba, Japan, 18-04-13. https://doi.org/10.1109/ICASI.2018.8394468

Task coordination for multiple mobile robots considering semantic and topological information. / Ravankar, Ankit A.; Ravankar, Abhijeet; Peng, Chao Chung; Kobayashi, Yukinori; Emaru, Takanori.

Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018. ed. / Artde Donald Kin-Tak Lam; Stephen D. Prior; Teen-Hang Meen. Institute of Electrical and Electronics Engineers Inc., 2018. p. 1088-1091 (Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Ravankar AA, Ravankar A, Peng CC, Kobayashi Y, Emaru T. Task coordination for multiple mobile robots considering semantic and topological information. In Lam ADK-T, Prior SD, Meen T-H, editors, Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 1088-1091. (Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018). https://doi.org/10.1109/ICASI.2018.8394468