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Deutsch Intern
Institute of Computer Science

15.01.2007

Informatik-Kolloquium

Im Wintersemester 2006/2007 findet im Rahmen des Informatik-Kolloquiums  folgender Vortrag statt:

Montag, 15. Januar 2007, 17:00 Uhr, Turing-Hörsaal

Prof. Dr. Wolfram Burgard (Universität Freiburg)

"Coordinated Multi-Robot Exploration"

In this presentation, we consider the problem of exploring an unknown environment with a team of mobile robots. The key problem to be solved is to coordinate the robots so that they simultaneously explore different regions of the environment in order to minimize the overall exploration time. We present an approach that coordinates the robots by iteratively assigning different target locations to the individual robots. Thereby it takes into account the cost of reaching a target point and its utility. Whenever a target point is assigned to a specific robot, the utility of the unexplored area visible from this target position is reduced. In this way, different target locations are assigned to the ndividual robots. We furthermore describe how our algorithm can be extended to situations in which the communication range of the robots is limited. Our technique has been implemented and tested extensively in real-world experiments and simulation runs. The results emonstrate that our technique effectively distributes the robots over the environment and allows them to quickly accomplish their mission

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Die Dozenten der Informatik