Comparaison de stratégies d'exploration multi-robot classiques et interactives en environnement peuplé
Identifieur interne : 000909 ( Main/Exploration ); précédent : 000908; suivant : 000910Comparaison de stratégies d'exploration multi-robot classiques et interactives en environnement peuplé
Auteurs : Nassim Kaldé [France] ; François Charpillet [France] ; Olivier Simonin [France]Source :
Abstract
Multi-robot exploration consists in efficiently observing all the reachable space of the environment. This task raises several issues concerning task allocation, robot coordination, path planning and communication. We are interested in exploring human-populated environments. Human movement and actions render these environments dynamic, and thus difficult to explore. In this paper, we propose to evaluate to which extent exploiting human presence can help rather than hinder exploration. We present a model for exploration in populated environments and define a human-robot interaction cost. We also formalise an interaction-based exploration framework inspired by classical frontier exploration. Finally, we evaluate the impact of considering human-robot interactions in frontier-based exploration. Keywords: Environment, Coordination, Collective robotics, Interaction, Multi-agent Simulations, Agent Behavioural models
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BP 10578153 Le Chesnay Cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/en/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country></affiliation></author></analytic></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Multi-robot exploration consists in efficiently observing all the reachable space of the environment. This task raises several issues concerning task allocation, robot coordination, path planning and communication. We are interested in exploring human-populated environments. Human movement and actions render these environments dynamic, and thus difficult to explore. In this paper, we propose to evaluate to which extent exploiting human presence can help rather than hinder exploration. We present a model for exploration in populated environments and define a human-robot interaction cost. We also formalise an interaction-based exploration framework inspired by classical frontier exploration. Finally, we evaluate the impact of considering human-robot interactions in frontier-based exploration. Keywords: Environment, Coordination, Collective robotics, Interaction, Multi-agent Simulations, Agent Behavioural models</div></front></TEI><affiliations><list><country><li>France</li></country><region><li>Grand Est</li><li>Lorraine (région)</li></region><settlement><li>Metz</li><li>Nancy</li></settlement><orgName><li>Université de Lorraine</li></orgName></list><tree><country name="France"><region name="Grand Est"><name sortKey="Kalde, Nassim" sort="Kalde, Nassim" uniqKey="Kalde N" first="Nassim" last="Kaldé">Nassim Kaldé</name></region><name sortKey="Charpillet, Francois" sort="Charpillet, Francois" uniqKey="Charpillet F" first="François" last="Charpillet">François Charpillet</name><name sortKey="Simonin, Olivier" sort="Simonin, Olivier" uniqKey="Simonin O" first="Olivier" last="Simonin">Olivier Simonin</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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