Speeding-up multi-robot exploration by considering semantic place information

Stachniss, Cyrill and Martinez Mozos, Oscar and Burgard, Wolfram (2006) Speeding-up multi-robot exploration by considering semantic place information. In: IEEE International Conference on Robotics and Automation (ICRA), 15-19 May 2006, Orlando, Florida.

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Abstract

In this paper, we consider the problem of exploring an unknown environment with a team of mobile robots. One of
the key issues in multi-robot exploration is how to assign target locations to the individual robots. To better distribute the robots over the environment and to avoid redundant work, we take into account the type of place a potential target is located in (e.g., a corridor or a room). To determine the type of a place, we apply a classifier learned with AdaBoost which additionally considers spatial dependencies between nearby locations. Our approach to incorporate the type of places in the coordination of the robots has been implemented and tested in different environments. The
experiments demonstrate that our system effectively distributes the robots over the environment and allows them to accomplish their mission faster compared to approaches that ignore the semantic place labels.

Keywords:mobile robotics, mapping
Subjects:G Mathematical and Computer Sciences > G700 Artificial Intelligence
H Engineering > H671 Robotics
G Mathematical and Computer Sciences > G760 Machine Learning
Divisions:College of Science > School of Computer Science
ID Code:9584
Deposited On:22 May 2013 15:03

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