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arXiv · 1402.0400

Exploration via Structured Triangulation by a Multi-Robot System with Bearing-Only Low-Resolution Sensors

SeoungKyou Lee·Aaron Becker·Sándor P. Fekete·Alexander Kröller·James McLurkin
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Abstract

This paper presents a distributed approach for exploring and triangulating an unknown region using a multi- robot system. The objective is to produce a covering of an unknown workspace by a fixed number of robots such that the covered region is maximized, solving the Maximum Area Triangulation Problem (MATP). The resulting triangulation is a physical data structure that is a compact representation of the workspace; it contains distributed knowledge of each triangle, adjacent triangles, and the dual graph of the workspace. Algorithms can store information in this physical data structure, such as a routing table for robot navigation Our algorithm builds a triangulation in a closed environment, starting from a single location. It provides coverage with a breadth-first search pattern and completeness guarantees. We show the computational and communication requirements to build and maintain the triangulation and its dual graph are small. Finally, we present a physical navigation algorithm that uses the dual graph, and show that the resulting path lengths are within a constant factor of the shortest-path Euclidean distance. We validate our theoretical results with experiments on triangulating a region with a system of low-cost robots. Analysis of the resulting quality of the triangulation shows that most of the triangles are of high quality, and cover a large area. Implementation of the triangulation, dual graph, and navigation all use communication messages of fixed size, and are a practical solution for large populations of low-cost robots.

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SeoungKyou Lee, Aaron Becker, Sándor P. Fekete, Alexander Kröller, James McLurkin. 2014-02-03. Exploration via Structured Triangulation by a Multi-Robot System with Bearing-Only Low-Resolution Sensors. https://arxiv.org/abs/1402.0400

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