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Online Multi-Agent Based Cooperative Exploration and Coverage in Complex Environment
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0001-8235-2728
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0001-7631-002x
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0003-0126-1897
2019 (English)Conference paper, Published paper (Refereed)
Abstract [en]

In this article, an online collaborative exploration and coverage method is proposed for the unknown complex environment with multiple agents. The exploration and coverage is based on Boustrophedon motion, while the detection conditions for backtracking points have been modified based on mission requirements, the battery charge level of each agent is considered to reduce agent loss, and collision free paths are generated. The proposed method is evaluated in simulation, where complex environment with multiple branches is explored by multiple agents.

Place, publisher, year, edition, pages
2019.
National Category
Robotics
Identifiers
URN: urn:nbn:se:ltu:diva-73507OAI: oai:DiVA.org:ltu-73507DiVA, id: diva2:1341934
Conference
The European Control Conference (ECC 2019)
Projects
Swedish Institute VISBY programme
Funder
EU, Horizon 2020, 730302Available from: 2019-08-12 Created: 2019-08-12 Last updated: 2019-08-18

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Koval, AntonMansouri, Sina SharifNikolakopoulos, George

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CiteExportLink to record
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Citation style
  • apa
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  • ieee
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