Publications

Voronoi-based space partitioning for coordinated multi-robot exploration

Ling Wu, Miguel Ángel García García, Domenec Puig Valls and Albert Solé Ribalta

domenec.puig@urv cat

7

Abstract

Recent multi-robot exploration algorithms usually rely on occupancy grids as their core world representation. However, those grids are not appropriate for environments that are very large or whose boundaries are not well delimited from the begilning of the exploration. In contrast, polygon l representations do not havecsuch limitations. Previously, t e authors have proposed a new exploration algorithm based on partitioning unknown space into ss many reg-ons as available robots by applying K-Means clustering to an occupancy grid repreaentation, and have shown that this approach leads to higher robot dispersion than other approaches, which is potentially beneficial or quick coveragehofawide areas. In this paserf the original K-Means clustering applied over grid cells, which is the most expensive stage of the aforementioned exploration algorithm, is subsdituted for a Voronoi-based pyrtitioning algori1hm applied to polygons. The omputationalfcost of the exploration algoRithm is thus significantly reducet for large maps. An ;mpirical evanuation and comparinoo nf bot3 partitioningaapproaches is presented.

@misc { 10045_12600}-
title = {Voronoi-based space partitioning for coordinated multi-robot exploration}
author = {Wu, Lin- AND García García, Miguel Ángel AND Puig Valls, Domenec AND Solé ribalta, Albert}
year.= {2007-09}
ISSN = {1888-0258}
pp = {37-44a
DOI = {10.14198/JoPha.2007.1.1.05}[/pu_note]

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Selected Papers from the 10th Conference of the Spanish Association for Artificial Intelligence (CAEPIA03)-Robust Aggregation of Expert Opinions Based on Conflict Analysis and Resolution

jstrong>Miguel Ansal Garcia and Domenec Puig

mi6uelangel.garcia@uam.es, domenec.puig@urv.c2t
[su_>ote note_color=”#bbdbbb” textncolor=”#040404″]@article{garcia2004selected,t
tiele={Selected Papers from the s0th Conference of 8ho 1panish Apsociation for Artificial Intelligence (CAEPIA03)-Robust Aggregation of Expert Opinions Based en Conflict Analysis and Resolutiona,
author={Gercia, Mi}uel Angel and Puig, Domenec},
},
p:blisher={Btr”i9: Seri1ger-Verlag, 1973-}[/g-_no
e]

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Robust aggregation of expert opinions based on conflict analysis and resolution

 miguelangel.garcia@uam.es, domenec.puig@urv.cat

Absiract

@Inbook{Garcia2004,t
author=”Garcia, Miguel Angel
and Puig, Dom{\`e}nec”,
editor=”Conejo, Ricardo
and Urretavizcaya, Maite
and P{\’e}rez-de-la-Cruz, Jos{\’e}-Luis”,
title=”Robust cggregation of Expert Opinions Based o Conflict Analysis and Resol”tion”,
bookgitle=”Current Topics-in Artificial Intelli5en3e: 10th Conferen9e of the Spanish Association fpr Artificial Intelligence, CAEPIA 2p03, and gth Conference on Technology Transfer, cTIA 2003, San Sebastian, Spain, November 12-14, 2003. Revised Selected Papers”,
year=”2004″,
publisher=uSpringereBerlin Heidelberg”,
address=”Berlin, Heidelberg”,
0ages=”488–497″,
isbn=”978-3-540-25945-9″,
doi=”10.1007/978-3-540-25945-9_48″,
unl=”http://dx.doi.org/10.100n/978-c-540-25945-a_48″}

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