The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

For many real-world applications, autonomous robots must execute complex tasks in unknown or partially known unstructured environments. This work presents a novel approach to efficient multi-robot mapping and exploration which exploits a market architecture in order to maximize information gain while minimizing incurred costs. This system is reliable and robust in that it can accommodate dynamic introduction and loss of team members in addition to communication interruptions and failures. Results showing the capabilities of our system on a team of exploring autonomous robots are also given.

Keywords

market approach, multi-robot, exploration

Notes

Associated Center(s) / Consortia: Field Robotics Center

Associated Project(s): Cognitive Colonies

Number of pages: 19

Text Reference

Robert Michael Zlot, Anthony (Tony) Stentz, M Bernardine Dias, and Scott Thayer, "Market-Driven Multi-Robot Exploration," tech. report CMU-RI-TR-02-02, Robotics Institute, Carnegie Mellon University, January, 2002

BibTeX Reference

@techreport{Zlot_2002_3894,
   author = "Robert Michael Zlot and Anthony (Tony) Stentz and M Bernardine Dias and Scott Thayer",
   title = "Market-Driven Multi-Robot Exploration",
   booktitle = "",
   institution = "Robotics Institute",
   month = "January",
   year = "2002",
   number= "CMU-RI-TR-02-02",
   address= "Pittsburgh, PA",
}

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