Mapping and path planning using communication graph of unlocalized and randomly deployed robotic swarm

Jin Hyo Kim, Ji Wook Kwon, Jiwon Seo

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

This paper proposes mapping and path planning algorithms for an unknown environment using a communication graph of an unlocalized robotic swarm system. Unlike the previous efforts that used the absolute position information of all the robots, in the proposed algorithms, the unknown environment is described as the communication connectivity graph achieved via a distributed consensus algorithm. Thus, since robots have no positioning sensors, the proposed mapping and path planning algorithms can simplify the procedures and reduce the costs. The numerical simulations are included to demonstrate the performance of the proposed algorithms.

Original languageEnglish
Title of host publicationICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings
PublisherIEEE Computer Society
Pages865-868
Number of pages4
Volume0
ISBN (Electronic)9788993215120
DOIs
Publication statusPublished - 2016 Jan 24
Event16th International Conference on Control, Automation and Systems, ICCAS 2016 - Gyeongju, Korea, Republic of
Duration: 2016 Oct 162016 Oct 19

Other

Other16th International Conference on Control, Automation and Systems, ICCAS 2016
CountryKorea, Republic of
CityGyeongju
Period16/10/1616/10/19

Fingerprint

Motion planning
Robotics
Communication
Robots
Parallel algorithms
Sensors
Computer simulation
Costs

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Kim, J. H., Kwon, J. W., & Seo, J. (2016). Mapping and path planning using communication graph of unlocalized and randomly deployed robotic swarm. In ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings (Vol. 0, pp. 865-868). [7832414] IEEE Computer Society. https://doi.org/10.1109/ICCAS.2016.7832414
Kim, Jin Hyo ; Kwon, Ji Wook ; Seo, Jiwon. / Mapping and path planning using communication graph of unlocalized and randomly deployed robotic swarm. ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings. Vol. 0 IEEE Computer Society, 2016. pp. 865-868
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Kim, JH, Kwon, JW & Seo, J 2016, Mapping and path planning using communication graph of unlocalized and randomly deployed robotic swarm. in ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings. vol. 0, 7832414, IEEE Computer Society, pp. 865-868, 16th International Conference on Control, Automation and Systems, ICCAS 2016, Gyeongju, Korea, Republic of, 16/10/16. https://doi.org/10.1109/ICCAS.2016.7832414

Mapping and path planning using communication graph of unlocalized and randomly deployed robotic swarm. / Kim, Jin Hyo; Kwon, Ji Wook; Seo, Jiwon.

ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings. Vol. 0 IEEE Computer Society, 2016. p. 865-868 7832414.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Kim JH, Kwon JW, Seo J. Mapping and path planning using communication graph of unlocalized and randomly deployed robotic swarm. In ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings. Vol. 0. IEEE Computer Society. 2016. p. 865-868. 7832414 https://doi.org/10.1109/ICCAS.2016.7832414