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A Multirobot System for Distributed Area Coverage and Signal Searching in Large Outdoor Scenarios

AuthorsGarzón, Mario ; Valente, João; Roldán Gómez, Juan J.; Cancar, Leandro ; Barrientos, Antonio ; Cerro, Jaime del
KeywordsMultirobot system
Large outdoor scenarios
Issue Date19-Nov-2015
PublisherJohn Wiley & Sons
CitationJournal of Field Robotics s 00(0), 1–20 (2015) DOI 10.1002/rob
AbstractThis 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. C 2015 WileyPeriodicals, Inc.
Publisher version (URL)10.1002/rob.21636
Appears in Collections:(CAR) Artículos
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