Multi-robot cooperative systems for exploration : advances in dealing with constrained communication environments
Resumen:
In the present document, the authors introduce the Cooperative Exploration problem as well as the most relevant approaches in order to show the most common drawbacks and opportunities to improve the state of art solutions. Subsequently, a preliminary version of a multi-robot exploration proposal is described. The first results obtained in simulated scenarios support the underlying ideas are feasible and promising. They show that is possible to cope with real communication constraints (always present in practice), being more fault tolerant and still having good performance regarding the total exploration time. Next steps to fully implement a more reliable and robust system are discussed.
| 2016 | |
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Multi-robot systems Cooperative systems Exploration tasks ROBOTS |
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| Inglés | |
| Universidad de la República | |
| COLIBRI | |
| https://hdl.handle.net/20.500.12008/23036 | |
| Acceso abierto | |
| Licencia Creative Commons Atribución - No Comercial - Sin Derivadas (CC - By-NC-ND 4.0) |
| _version_ | 1807522888614412288 |
|---|---|
| author | Benavides Olivera, Facundo |
| author2 | Monzón, Pablo Carvalho Chanel, Caroline P. Grampín Castro, Eduardo Gabriel |
| author2_role | author author author |
| author_facet | Benavides Olivera, Facundo Monzón, Pablo Carvalho Chanel, Caroline P. Grampín Castro, Eduardo Gabriel |
| author_role | author |
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| collection | COLIBRI |
| dc.contributor.filiacion.none.fl_str_mv | Benavides Olivera Facundo, Universidad de la República (Uruguay). Facultad de Ingeniería. Monzón Pablo, Universidad de la República (Uruguay). Facultad de Ingeniería. Carvalho Chanel Caroline P., Design and Control of Aerospace Vehicles Department, ISAE-SUPAERO, Toulouse, France Grampín Castro Eduardo Gabriel, Universidad de la República (Uruguay). Facultad de Ingeniería. |
| dc.creator.none.fl_str_mv | Benavides Olivera, Facundo Monzón, Pablo Carvalho Chanel, Caroline P. Grampín Castro, Eduardo Gabriel |
| dc.date.accessioned.none.fl_str_mv | 2020-02-04T17:49:30Z |
| dc.date.available.none.fl_str_mv | 2020-02-04T17:49:30Z |
| dc.date.issued.none.fl_str_mv | 2016 |
| dc.description.abstract.none.fl_txt_mv | In the present document, the authors introduce the Cooperative Exploration problem as well as the most relevant approaches in order to show the most common drawbacks and opportunities to improve the state of art solutions. Subsequently, a preliminary version of a multi-robot exploration proposal is described. The first results obtained in simulated scenarios support the underlying ideas are feasible and promising. They show that is possible to cope with real communication constraints (always present in practice), being more fault tolerant and still having good performance regarding the total exploration time. Next steps to fully implement a more reliable and robust system are discussed. |
| dc.description.es.fl_txt_mv | Postprint Objeto de conferencia |
| dc.format.extent.es.fl_str_mv | 6 p. |
| dc.format.mimetype.es.fl_str_mv | application/pdf |
| dc.identifier.citation.es.fl_str_mv | Benavides Olivera, F, Monzón, P, Carvalho Chanel, C y Grampín Castro, E. Multi-robot cooperative systems for exploration : advances in dealing with constrained communication environments. En : XIII Latin American Robotics Symposium and IV Brazilian Robotics Symposium : 8-12 Oct. [en línea]. Recife : IEEE, 2016, pp.181-186. DOI: 10.1109/LARS-SBR.2016.37. |
| dc.identifier.doi.none.fl_str_mv | 10.1109/LARS-SBR.2016.37 |
| dc.identifier.uri.none.fl_str_mv | https://hdl.handle.net/20.500.12008/23036 |
| dc.language.iso.none.fl_str_mv | en eng |
| dc.publisher.es.fl_str_mv | IEEE |
| dc.relation.ispartof.es.fl_str_mv | XIII Latin American Robotics Symposium and IV Brazilian Robotics Symposium, 8-12 Oct. 2016. |
| dc.rights.license.none.fl_str_mv | Licencia Creative Commons Atribución - No Comercial - Sin Derivadas (CC - By-NC-ND 4.0) |
| dc.rights.none.fl_str_mv | info:eu-repo/semantics/openAccess |
| dc.source.none.fl_str_mv | reponame:COLIBRI instname:Universidad de la República instacron:Universidad de la República |
| dc.subject.en.fl_str_mv | Multi-robot systems Cooperative systems Exploration tasks |
| dc.subject.other.en.fl_str_mv | ROBOTS |
| dc.title.none.fl_str_mv | Multi-robot cooperative systems for exploration : advances in dealing with constrained communication environments |
| dc.type.es.fl_str_mv | Artículo |
| dc.type.none.fl_str_mv | info:eu-repo/semantics/article |
| dc.type.version.none.fl_str_mv | info:eu-repo/semantics/publishedVersion |
| description | Postprint |
| eu_rights_str_mv | openAccess |
| format | article |
| id | COLIBRI_3c59bc1864a8a313a643c2ecbc8ee15c |
| identifier_str_mv | Benavides Olivera, F, Monzón, P, Carvalho Chanel, C y Grampín Castro, E. Multi-robot cooperative systems for exploration : advances in dealing with constrained communication environments. En : XIII Latin American Robotics Symposium and IV Brazilian Robotics Symposium : 8-12 Oct. [en línea]. Recife : IEEE, 2016, pp.181-186. DOI: 10.1109/LARS-SBR.2016.37. 10.1109/LARS-SBR.2016.37 |
| instacron_str | Universidad de la República |
| institution | Universidad de la República |
| instname_str | Universidad de la República |
| language | eng |
| language_invalid_str_mv | en |
| network_acronym_str | COLIBRI |
| network_name_str | COLIBRI |
| oai_identifier_str | oai:colibri.udelar.edu.uy:20.500.12008/23036 |
| publishDate | 2016 |
| reponame_str | COLIBRI |
| repository.mail.fl_str_mv | mabel.seroubian@seciu.edu.uy |
| repository.name.fl_str_mv | COLIBRI - Universidad de la República |
| repository_id_str | 4771 |
| rights_invalid_str_mv | Licencia Creative Commons Atribución - No Comercial - Sin Derivadas (CC - By-NC-ND 4.0) |
| spelling | Benavides Olivera Facundo, Universidad de la República (Uruguay). Facultad de Ingeniería.Monzón Pablo, Universidad de la República (Uruguay). Facultad de Ingeniería.Carvalho Chanel Caroline P., Design and Control of Aerospace Vehicles Department, ISAE-SUPAERO, Toulouse, FranceGrampín Castro Eduardo Gabriel, Universidad de la República (Uruguay). Facultad de Ingeniería.2020-02-04T17:49:30Z2020-02-04T17:49:30Z2016Benavides Olivera, F, Monzón, P, Carvalho Chanel, C y Grampín Castro, E. Multi-robot cooperative systems for exploration : advances in dealing with constrained communication environments. En : XIII Latin American Robotics Symposium and IV Brazilian Robotics Symposium : 8-12 Oct. [en línea]. Recife : IEEE, 2016, pp.181-186. DOI: 10.1109/LARS-SBR.2016.37.https://hdl.handle.net/20.500.12008/2303610.1109/LARS-SBR.2016.37PostprintObjeto de conferenciaIn the present document, the authors introduce the Cooperative Exploration problem as well as the most relevant approaches in order to show the most common drawbacks and opportunities to improve the state of art solutions. Subsequently, a preliminary version of a multi-robot exploration proposal is described. The first results obtained in simulated scenarios support the underlying ideas are feasible and promising. They show that is possible to cope with real communication constraints (always present in practice), being more fault tolerant and still having good performance regarding the total exploration time. Next steps to fully implement a more reliable and robust system are discussed.Submitted by Machado Jimena (jmachado@fing.edu.uy) on 2020-02-04T16:42:48Z No. of bitstreams: 2 license_rdf: 23148 bytes, checksum: 9da0b6dfac957114c6a7714714b86306 (MD5) BMCG16.pdf: 454000 bytes, checksum: 998ee0569f2c813703e83a2acc2b8a1b (MD5)Approved for entry into archive by Machado Jimena (jmachado@fing.edu.uy) on 2020-02-04T17:01:57Z (GMT) No. of bitstreams: 2 license_rdf: 23148 bytes, checksum: 9da0b6dfac957114c6a7714714b86306 (MD5) BMCG16.pdf: 454000 bytes, checksum: 998ee0569f2c813703e83a2acc2b8a1b (MD5)Made available in DSpace by Seroubian Mabel (mabel.seroubian@seciu.edu.uy) on 2020-02-04T17:49:30Z (GMT). No. of bitstreams: 2 license_rdf: 23148 bytes, checksum: 9da0b6dfac957114c6a7714714b86306 (MD5) BMCG16.pdf: 454000 bytes, checksum: 998ee0569f2c813703e83a2acc2b8a1b (MD5) Previous issue date: 20166 p.application/pdfenengIEEEXIII Latin American Robotics Symposium and IV Brazilian Robotics Symposium, 8-12 Oct. 2016.Las obras depositadas en el Repositorio se rigen por la Ordenanza de los Derechos de la Propiedad Intelectual de la Universidad de la República.(Res. Nº 91 de C.D.C. de 8/III/1994 – D.O. 7/IV/1994) y por la Ordenanza del Repositorio Abierto de la Universidad de la República (Res. Nº 16 de C.D.C. de 07/10/2014)info:eu-repo/semantics/openAccessLicencia Creative Commons Atribución - No Comercial - Sin Derivadas (CC - By-NC-ND 4.0)Multi-robot systemsCooperative systemsExploration tasksROBOTSMulti-robot cooperative systems for exploration : advances in dealing with constrained communication environmentsArtículoinfo:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionreponame:COLIBRIinstname:Universidad de la Repúblicainstacron:Universidad de la RepúblicaBenavides Olivera, FacundoMonzón, PabloCarvalho Chanel, Caroline P.Grampín Castro, Eduardo GabrielLICENSElicense.txtlicense.txttext/plain; charset=utf-84267http://localhost:8080/xmlui/bitstream/20.500.12008/23036/5/license.txt6429389a7df7277b72b7924fdc7d47a9MD55CC-LICENSElicense_urllicense_urltext/plain; charset=utf-850http://localhost:8080/xmlui/bitstream/20.500.12008/23036/2/license_urla006180e3f5b2ad0b88185d14284c0e0MD52license_textlicense_texttext/html; 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- Universidad de la Repúblicafalse |
| spellingShingle | Multi-robot cooperative systems for exploration : advances in dealing with constrained communication environments Benavides Olivera, Facundo Multi-robot systems Cooperative systems Exploration tasks ROBOTS |
| status_str | publishedVersion |
| title | Multi-robot cooperative systems for exploration : advances in dealing with constrained communication environments |
| title_full | Multi-robot cooperative systems for exploration : advances in dealing with constrained communication environments |
| title_fullStr | Multi-robot cooperative systems for exploration : advances in dealing with constrained communication environments |
| title_full_unstemmed | Multi-robot cooperative systems for exploration : advances in dealing with constrained communication environments |
| title_short | Multi-robot cooperative systems for exploration : advances in dealing with constrained communication environments |
| title_sort | Multi-robot cooperative systems for exploration : advances in dealing with constrained communication environments |
| topic | Multi-robot systems Cooperative systems Exploration tasks ROBOTS |
| url | https://hdl.handle.net/20.500.12008/23036 |
