Experimental study on the effects of communication on cooperative search in complex environments

Cayirpunar, O.; Gazi, Veysel; Tavli, B.; Cervera, E.; Witkowski, U.; Penders, J.

Experimental study on the effects of communication on cooperative search in complex environments

Cayirpunar O., Gazi V., Tavli B., Cervera E., Witkowski U., Penders J.

USING ROBOTS IN HAZARDOUS ENVIRONMENTS: LANDMINE DETECTION, DE-MINING AND OTHER APPLICATIONS, ss.535-556, 2010 (SCI-Expanded)

Yayın Türü: Makale / Tam Makale
Basım Tarihi: 2010
Dergi Adı: USING ROBOTS IN HAZARDOUS ENVIRONMENTS: LANDMINE DETECTION, DE-MINING AND OTHER APPLICATIONS
Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED)
Sayfa Sayıları: ss.535-556
Anahtar Kelimeler: multi-robot teams, communication network, cooperative robotic search, transmission range
Yıldız Teknik Üniversitesi Adresli: Hayır

Özet

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.