A Multirobot System for Distributed Area Coverage and Signal Searching in Large Outdoor Scenarios
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- 作者：Mario Garzó ; n ; Joã ; o Valente ; Juan Jesú ; s Roldá ; n ; Leandro Cancar ; Antonio Barrientos and Jaime Del Cerro
- 刊名：Journal of Field Robotics
- 出版年：2016
- 出版时间：December 2016
- 年：2016
- 卷：33
- 期：8
- 页码：1087-1106
- 全文大小：1623K
- ISSN：1556-4967
文摘
This work presents a complete multirobot solution for signal searching tasks in large outdoor scenarios. An evaluation of two different coverage path-planning strategies according to field size and shape is presented. A signal location system developed to simulate mines or chemical source detections is also described. The solution presented is a pioneer in evaluating multimaster robotics operative system architectures with a fleet of robots in real scenarios. This solution minimizes the use of communications bandwidth required for full operation. Finally, field results are provided, and the advantages of the implemented solution are analyzed.