June 23, 2013
June 23, 2013
June 26, 2013
Computing & Information Technology
23.1056.1 - 23.1056.11
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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