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Dynamic Frontier-Led Swarming: Multi-Robot Repeated Coverage in Dynamic Environments
Vu Phi Tran; Matthew A. Garratt; Kathryn Kasmarik; Sreenatha G. Anavatti
发表期刊IEEE/CAA Journal of Automatica Sinica
ISSN2329-9266
2023
卷号10期号:3页码:646-661
摘要A common assumption of coverage path planning research is a static environment. Such environments require only a single visit to each area to achieve coverage. However, some real-world environments are characterised by the presence of unexpected, dynamic obstacles. They require areas to be revisited periodically to maintain an accurate coverage map, as well as reactive obstacle avoidance. This paper proposes a novel swarm-based control algorithm for multi-robot exploration and repeated coverage in environments with unknown, dynamic obstacles. The algorithm combines two elements: frontier-led swarming for driving exploration by a group of robots, and pheromone-based stigmergy for controlling repeated coverage while avoiding obstacles. We tested the performance of our approach on heterogeneous and homogeneous groups of mobile robots in different environments. We measure both repeated coverage performance and obstacle avoidance ability. Through a series of comparison experiments, we demonstrate that our proposed strategy has superior performance to recently presented multi-robot repeated coverage methodologies.
关键词Artificial pheromones distributed control architecture dynamic obstacle avoidance multi-robot coverage stigmergy swarm robotics
DOI10.1109/JAS.2023.123087
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被引频次:4[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/51178
专题学术期刊_IEEE/CAA Journal of Automatica Sinica
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Vu Phi Tran,Matthew A. Garratt,Kathryn Kasmarik,et al. Dynamic Frontier-Led Swarming: Multi-Robot Repeated Coverage in Dynamic Environments[J]. IEEE/CAA Journal of Automatica Sinica,2023,10(3):646-661.
APA Vu Phi Tran,Matthew A. Garratt,Kathryn Kasmarik,&Sreenatha G. Anavatti.(2023).Dynamic Frontier-Led Swarming: Multi-Robot Repeated Coverage in Dynamic Environments.IEEE/CAA Journal of Automatica Sinica,10(3),646-661.
MLA Vu Phi Tran,et al."Dynamic Frontier-Led Swarming: Multi-Robot Repeated Coverage in Dynamic Environments".IEEE/CAA Journal of Automatica Sinica 10.3(2023):646-661.
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