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Local navigation strategies for a team of robots

Published online by Cambridge University Press:  02 March 2021

Antonio Sgorbissa  and
Ronald C. Arkin
Antonio Sgorbissa*
Affiliation:
Laboratorium, DIST – University of Genova (Italy)
Ronald C. Arkin*
Affiliation:
Mobile Robot Laboratory, College Of Computing – GaTech (USA)
*
Email: antonio.sgorbissa@unige.it
Email: arkin@cc.gatech.edu
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Summary

Whenever a mobile robot has to deal with an environment that is totally or partially unknown or dynamically changing, local navigation strategies are very important for the robot to successfully achieve its goals. Unfortunately, local navigation algorithms that have been proposed in the literature offer poor performance (or even fail) whenever the geometry of the free space in which the robot is requested to operate increases its complexity. In this paper, we deal with a team composed of many robots, and we show how robots navigating within an unknown environment with local communication capabilities (only line-of-sight communication is allowed) can cooperate by helping each other to achieve their own goals.

Keywords

Navigation algorithmsMulti-robot explorationMulti-robot cooperation
Type
Research Article
Information
Robotica , Volume 21 , Issue 5 , October 2003 , pp. 461 - 473
Copyright
Copyright © Cambridge University Press 2003

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