Cooperative terrain model acquisition by a team of two or three point-robots

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We address the model acquisition problem for an unknown planar terrain by a team of two or three robots. The terrain is cluttered by a finite number of polygonal obstacles whose shapes and positions are unknown. The robots are point-sized and equipped with visual sensors which acquire all visible parts of the terrain by scan operations executed from their locations. The robots communicate with each other via wireless connection. The performance is measured by the number of the sensor (scan) operations which are assumed to be the most time-consuming of all the robot operations. We employ the restricted visibility graph ... continued below

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8 p.

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Rao, N.S.V.; Protopopescu, V. & Manickam, N. April 1, 1996.

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We address the model acquisition problem for an unknown planar terrain by a team of two or three robots. The terrain is cluttered by a finite number of polygonal obstacles whose shapes and positions are unknown. The robots are point-sized and equipped with visual sensors which acquire all visible parts of the terrain by scan operations executed from their locations. The robots communicate with each other via wireless connection. The performance is measured by the number of the sensor (scan) operations which are assumed to be the most time-consuming of all the robot operations. We employ the restricted visibility graph methods in a hierarchical setup. For terrains with convex obstacles and for teams of n(= 2, 3) robots, we prove that the sensing time is reduced by a factor of 1/n. For terrains with concave corners, the performance of the algorithm depends on the number of concave regions and their depths. A hierarchical decomposition of the restricted visibility graph into n-connected and (n - 1)-or-less connected components is considered. The performance for the n(= 2, 3) robot team is expressed in terms of the sizes of n-connected components, and the sizes and diameters of (n - 1)-or-less connected components.

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8 p.

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OSTI as DE96008791

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  • IEEE international conference on robotics and automation, Minneapolis, MN (United States), 22-28 Apr 1996

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  • Other: DE96008791
  • Report No.: CONF-960448--15
  • Grant Number: AC05-84OR21400
  • Office of Scientific & Technical Information Report Number: 219466
  • Archival Resource Key: ark:/67531/metadc672931

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  • April 1, 1996

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  • June 29, 2015, 9:42 p.m.

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  • Jan. 21, 2016, 7:01 p.m.

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Rao, N.S.V.; Protopopescu, V. & Manickam, N. Cooperative terrain model acquisition by a team of two or three point-robots, article, April 1, 1996; Tennessee. (digital.library.unt.edu/ark:/67531/metadc672931/: accessed October 22, 2018), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.