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 language | English |
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| Title of host publication | ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings |
| Publisher | IEEE Computer Society |
| Pages | 865-868 |
| Number of pages | 4 |
| ISBN (Electronic) | 9788993215120 |
| DOIs | |
| Publication status | Published - 2016 Jan 24 |
| Event | 16th International Conference on Control, Automation and Systems, ICCAS 2016 - Gyeongju, Korea, Republic of Duration: 2016 Oct 16 → 2016 Oct 19 |
Publication series
| Name | International Conference on Control, Automation and Systems |
|---|---|
| Volume | 0 |
| ISSN (Print) | 1598-7833 |
Other
| Other | 16th International Conference on Control, Automation and Systems, ICCAS 2016 |
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| Country/Territory | Korea, Republic of |
| City | Gyeongju |
| Period | 16/10/16 → 16/10/19 |
Bibliographical note
Publisher Copyright:© 2016 Institute of Control, Robotics and Systems - ICROS.
All Science Journal Classification (ASJC) codes
- Artificial Intelligence
- Computer Science Applications
- Control and Systems Engineering
- Electrical and Electronic Engineering