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Title: Experimental study on the effects of communication on cooperative search in complex environments
Authors: Çayırpınar, O.
Gazi, V.
Tavlı, B.
Cervera, E.
Witkowski, U.
Penders, J.
Keywords: multi-robot teams
communication network
cooperative robotic search
transmission range
Issue Date: 2010
Publisher: Woodhead Publ Ltd
Series/Report no.: Woodhead Publishing in Mechanical Engineering
Abstract: In this study we investigate the benefits of networked communication by experimentally evaluating the results of two search algorithms, which are spiral search and informed random search. Both simulations and real experiments are performed in order to obtain objective results. The robotic experiments were performed in an experimental area containing obstacles where the communication ranges were "simulated" with the help of an overhead camera. Each robot was allowed to keep an occupancy grid based local map of the environment also containing information about the cells it has visited and to exchange this information with the other robots within its communication range. The effect of the size of communication range on the performance of the system defined as the time of completion the search task (i.e. locating the target) was investigated.
ISBN: 978-1-84569-786-0
ISSN: 2048-0571
Appears in Collections:Elektrik ve Elektronik Mühendisliği Bölümü / Department of Electrical & Electronics Engineering
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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