Cooperative multi-robot navigation and mapping of unknown terrain

Author

Boeing, Adrian ; Bräunl, Thomas ; Reid, Robert ; Morgan, Aidan ; Vinsen, Kevin

Author_Institution

Univ. of Western Australia, Perth, WA, Australia

fYear

2011

fDate

17-19 Sept. 2011

Firstpage

234

Lastpage

238

Abstract

We describe the hardware, software and sensor equipment for a fleet of mobile robots used for cooperative multi-robot navigation and mapping. This robot team was developed for the MAGIC 2010 Robotics Challenge and successfully made it through two down-selection processes to the finals, where it placed 4th. Our mobile robot design leverages off-the-shelf hardware and open source software with novel software contributions to realize cooperative navigation, mapping, reconnaissance, and surveillance tasks for a large urban environment.

Keywords

cooperative systems; mobile robots; multi-robot systems; navigation; path planning; public domain software; surveillance; terrain mapping; MAGIC 2010 robotics challenge; cooperative mapping; cooperative multirobot mapping; cooperative multirobot navigation; cooperative navigation; cooperative reconnaissance; down-selection processes; hardware equipment; mobile robot design; mobile robots; off-the-shelf hardware; open source software; robot team; sensor equipment; software contributions; software equipment; surveillance tasks; unknown terrain; urban environment; Automation; Lasers; Navigation; Planning; Robot kinematics; Robot sensing systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics, Automation and Mechatronics (RAM), 2011 IEEE Conference on

Conference_Location

Qingdao

ISSN

2158-2181

Print_ISBN

978-1-61284-252-3

Type

conf

DOI

10.1109/RAMECH.2011.6070488

Filename

6070488