Multi-Robot Collaborative Coverage under Localization Uncertainty

Mert Turanli, Hakan Temeltas

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Citations (Scopus)

Abstract

In the paper, an adaptive collaboration method for multiple robots under localization uncertainty is presented. The multi-agent algorithm makes use of the multiple homogenous wheeled mobile robots whose locations are not known precisely but known to be within uncertainty circles. The workspace is partitioned by using the Guaranteed Power Voronoi Diagram (GPVD or GPD). The weights of the diagram are calculated by the collaboration algorithm in order to assign more regions to the agents with better actuator performances and less regions to the ones with weaker actuators. The robots do not know the performance parameters beforehand. They learn their own parameter vectors online by using the Hopfield Neural Network (HNN) estimator. So, by making use of the proposed control scheme and collaboration algorithm, the agents position themselves to the optimal coverage configuration and at the end configuration, the workspace assignment according to the actuator performances is performed. The proposed algorithm runs online and in a distributed fashion. The simulation results in MATLAB are given with the experimental verification done with Turtlebot 2 robots and ROS.

Original languageEnglish
Title of host publicationProceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1999-2005
Number of pages7
ISBN (Electronic)9781728116983
DOIs
Publication statusPublished - Aug 2019
Event16th IEEE International Conference on Mechatronics and Automation, ICMA 2019 - Tianjin, China
Duration: 4 Aug 20197 Aug 2019

Publication series

NameProceedings of 2019 IEEE International Conference on Mechatronics and Automation, ICMA 2019

Conference

Conference16th IEEE International Conference on Mechatronics and Automation, ICMA 2019
Country/TerritoryChina
CityTianjin
Period4/08/197/08/19

Bibliographical note

Publisher Copyright:
© 2019 IEEE.

Keywords

  • Collaboration
  • Coverage control
  • Guaranteed power voronoi diagrams
  • Multi-agent systems

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