作者
Malika Meghjani, Gregory Dudek
发表日期
2011/5/25
研讨会论文
2011 Canadian Conference on Computer and Robot Vision
页码范围
80-85
出版商
IEEE
简介
We consider the problem of exploring an unknown environment with a pair of mobile robots. The goal is to make the robots meet (or rendezvous) in minimum time such that there is a maximum speed gain of the exploration task. The key challenge in achieving this goal is to rendezvous with the least possible dependency on communication. This single constraint involves several sub-problems: finding unique potential rendezvous locations in the environment, ranking these locations based on their uniqueness and synchronizing with the other robot to meet at one of the locations at a scheduled time. In addition, these tasks are to be performed simultaneously while exploring and mapping the environment. We propose an approach for efficiently combining the exploration and rendezvous tasks by considering the cost of reaching a rendezvous location and the reward of its uniqueness. This cost and reward model is …
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M Meghjani, G Dudek - 2011 Canadian Conference on Computer and Robot …, 2011