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Sector-Search with Rendezvous: Overcoming Communication Limitations in Multirobot Systems

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Conference

2013 ASEE Annual Conference & Exposition

Location

Atlanta, Georgia

Publication Date

June 23, 2013

Start Date

June 23, 2013

End Date

June 26, 2013

ISSN

2153-5965

Conference Session

Emerging Computing and Information Technologies

Tagged Division

Computing & Information Technology

Page Count

11

Page Numbers

23.1056.1 - 23.1056.11

Permanent URL

https://peer.asee.org/22441

Download Count

26

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Paper Authors

biography

Briana Lowe Wellman University of the District of Columbia

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Dr. Briana Lowe Wellman is an assistant professor in the department of Computer Science and Information Technology at the University of the District of Columbia. She joined UDC in May 2012 after receiving her Ph.D. in Computer Science from The University of Alabama in December 2011.

Dr. Wellman’s area of specialization is robotics. Her research focus is on cooperative multirobot systems and sensor networks in search, coverage, and surveillance applications. It also includes using robotics in education. Her research is highlighted in numerous international conference and journal proceedings.

As an educator, researcher, and mentor, Dr. Wellman’s overall goal is to continue her research while teaching and training the next generations of computer scientists. One of her favorite inspirational quote is by Marian Wright Edelman: “Education is for improving the lives of others and for leaving your community and world better than you found it.”

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biography

Tommy Suriel University of The District of Columbia

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Tommy Suriel Gonzalez is a computer science undergraduate junior at the University of The District of Columbia(UDC). He was born in August 16th 1991 in Manhattan NY and after two months of being born he was taken back with his family to The Dominican Republic. He was raised and lived there until the age of seventeen. At the age of seventeen he moved to the United States of America to live in Washington DC where he completed High school at the Age of eighteen and then started Attending UDC at nineteen. He recently has been doing research at UDC with Dr Briana Wellman in robotics regarding Sector-Search with Rendezvous in Multi-robot Systems. In March 2013 He attended the ERN conference in Washington DC where he gave an Oral presentation of this research ,the 70th Joint Annual Meeting of the BKX and NIS in Reston VA where he presented a poster of this research and won 3rd place for his presentation and the 5th Annual ARTSI Student Research Conference and Spelman College Computer Science Olympiad XI where he also gave a poster presentation(won 2nd place for his presentation) and participated in the Olympiad with the UDC robotics team.

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Evanna Maria Reynoso

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Abstract

Sector-Search with Rendezvous: Overcoming Communication Limitations in Multirobot SystemsCooperative multirobot systems are advantageous in many coverage applications. They can work in parallel andcomplete tasks faster than a single robot. If one robot fails, the other robots can continue with the task at hand. .In addition, if there is a dangerous mission, such as search and rescue or hazardous waste clean-up, robots canbe deployed instead of human teams to prevent human casualties.When multiple robots cooperate to complete a task, communication between robots can speed up completion.Communication can prevent robots from interfering with one another and reduce redundancy in coverage.Typically, point-to-point communications can be used to coordinate robots. However, in many coverage tasksthe efficiency of communications may be unpredictable due to unknown environmental characteristics andnetwork conditions. Because persistent intra-team digital communications are not guaranteed, cooperationparadigms that do not rely upon message passing throughout exploration are needed.In previous work, the novel approach, Sector Search with Rendezvous, was proposed to overcomecommunication limitations. Robots explore an environment in sectors, or designated areas, and periodicallymeet to communicate map information of what they have explored. Using simulations, it was compared to othercommunication paradigms. Results suggest that Sector Search with Rendezvous can serve as an alternative tocontinuous point-to-point communications. However, there can be discrepancies between results of simulationand physical experiments. In this paper, results from real robots experiments are discussed to validate the resultsfrom simulations.

Wellman, B. L., & Suriel, T., & Reynoso, E. M. (2013, June), Sector-Search with Rendezvous: Overcoming Communication Limitations in Multirobot Systems Paper presented at 2013 ASEE Annual Conference & Exposition, Atlanta, Georgia. https://peer.asee.org/22441

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