Task coordination for multiple mobile robots considering semantic and topological information

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

研究成果: Conference contribution

1 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018
編輯Artde Donald Kin-Tak Lam, Stephen D. Prior, Teen-Hang Meen
發行者Institute of Electrical and Electronics Engineers Inc.
頁面1088-1091
頁數4
ISBN(電子)9781538643426
DOIs
出版狀態Published - 2018 六月 22
事件4th IEEE International Conference on Applied System Innovation, ICASI 2018 - Chiba, Japan
持續時間: 2018 四月 132018 四月 17

出版系列

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

Other

Other4th IEEE International Conference on Applied System Innovation, ICASI 2018
國家Japan
城市Chiba
期間18-04-1318-04-17

    指紋

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

引用此

Ravankar, A. A., Ravankar, A., Peng, C. C., Kobayashi, Y., & Emaru, T. (2018). Task coordination for multiple mobile robots considering semantic and topological information. 於 A. D. K-T. Lam, S. D. Prior, & T-H. Meen (編輯), Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018 (頁 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