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Title: Laser based cooperative multi-robot map building for indoor environments
Authors: Ataş, Y.
Çayırpunar, O.
Akat, S. Burak
Gazi, V.
Alboul, L.
Keywords: multi-robot systems
cooperative map building
laser range finder
wireless ad-hoc network
Issue Date: 2010
Publisher: Woodhead Publ Ltd
Series/Report no.: Woodhead Publishing in Mechanical Engineering
Abstract: In this chapter a cooperative map-building scenario in a small experimental area with multiple robots is implemented. In this scenario, all the robots enter the area in a sequential manner from the same entry point, which serves as the origin for the localization information. The robots cooperatively perform division of labor such that one of the robots follows the right wall, another robot follows the left wall in order to extract the map of the outskirts of the closed environment, while the remaining robots navigate and extract the map of the interior. A base station constructs a 2D map of the environment using the data from all the robots. Artificial potential functions are used in implementation in order to control the movement of the robots and guarantee collision avoidance with obstacles or other robots.
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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