Computer Engineering | Robotics
In this paper we propose an approach, the Space-Based Potential Field (SBPF) approach, to controlling multiple robots for area exploration missions that focus on robot dispersion. The SBPF method is based on a potential field approach that leverages knowledge of the overall bounds of the area to be explored. This additional information allows a simpler potential field control strategy for all robots but which nonetheless has good dispersion and overlap performance in all the multi-robot scenarios while avoiding potential minima. Both simulation and robot experimental results are presented as evidence.
Liu, Tsung-Ming and Lyons, Damian M., "Leveraging Area Bounds Information for Autonomous Multi-Robot Exploration" (2014). Faculty Publications. 38.