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Communication Dans Un Congrès Année : 2014

Managing environment models in multi-robot teams

Résumé

Multi-robot cooperation in a dynamic environment implies that each involved robot is able to create, update and exchange environment models – which are essential to the autonomy of mobile robots. The ability to exchange data, in other words to communicate, rely on the fact that robots share a common language and common frames in space and time. In this paper we present an open-source architecture dedicated to build a collection of environment models of a dynamic environment with multiple robots. This work is lead with air-ground cooperation scenarios in mind, such as the ones considered within the Action project. Managing models during the mission means defining methods and protocols to transmit and merge models built from different sources and on different robots, while respecting time and bandwidth constraints and being robust to unavoidable inconsistencies between the models. Our first work builds upon GDAL, a well known standard in geographic information systems (GIS). The architecture is currently able to build models with different robots in simulation. Current work aims at detecting and solving inconsistencies between the various models, and at porting the architecture on-board real robots.
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Dates et versions

hal-01109193 , version 1 (25-01-2015)

Identifiants

  • HAL Id : hal-01109193 , version 1

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Pierrick Koch, Simon Lacroix. Managing environment models in multi-robot teams. euRathlon/ARCAS Workshop and Summer School on Field Robotics, Jun 2014, Sevilla, Spain. ⟨hal-01109193⟩
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