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Content Provider | IEEE Xplore Digital Library |
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Author | Weihua Sheng Qizhi Wang Qingyan Yang Shenghuo Zhu |
Copyright Year | 2005 |
Description | Author affiliation: ECE Dept., Kettering Univ., Flint, MI (Weihua Sheng) |
Abstract | In many multi-robot applications, ad hoc networks are formed for data communication, which enables effective decision making and results in significant energy and time saving. However, unnecessary large volumes of communication data may still lead to big time delay and energy waste. This paper addresses the problem of how to reduce the data exchange among multiple robots when they carry out cooperative area exploration or coverage. In this application, multiple robots need exchange map information in order to minimize the repeated exploration or coverage. When a connected ad hoc network can not be maintained, the map data exchange or synchronization should be carefully dealt with in order to reduce the volume of data exchange. In this paper, a novel sequence number-based map representation scheme and an effective robot map update tracking scheme are proposed. Based on them, an algorithm is developed to reduce the volumes of map data exchange when robot subnetworks merge. Simulation results validate this algorithm |
Sponsorship | Univ. of Washington IEEE Robotics and Autom. Soc. Microsoft Coroware Inc |
Starting Page | 811 |
Ending Page | 816 |
File Size | 610549 |
Page Count | 6 |
File Format | |
ISBN | 0780391780 |
DOI | 10.1109/ICAR.2005.1507501 |
Language | English |
Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Publisher Date | 2005-07-18 |
Publisher Place | USA |
Access Restriction | Subscribed |
Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Subject Keyword | Intelligent networks Robot kinematics Robot sensing systems Ad hoc networks Decision making Electric breakdown Computer science Information technology National electric code Application software |
Content Type | Text |
Resource Type | Article |
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