A Multirobot System for Distributed Area Coverage and Signal Searching in Large Outdoor Scenarios*

Mario Garzón; João Valente; Juan Jesús Roldán; Leandro Cancar; Antonio Barrientos; Jaime Del Cerro

doi:10.1002/rob.21636

A Multirobot System for Distributed Area Coverage and Signal Searching in Large Outdoor Scenarios*

Mario Garzón^*, João Valente, Juan Jesús Roldán, Leandro Cancar, Antonio Barrientos, Jaime Del Cerro

^*Corresponding author for this work

Research output: Contribution to journal › Article › Scientific › peer-review

18 Citations (Scopus)

Abstract

This work presents a complete multirobot solution for signal searching tasks in large outdoor scenarios. An evaluation of two different coverage path-planning strategies according to field size and shape is presented. A signal location system developed to simulate mines or chemical source detections is also described. The solution presented is a pioneer in evaluating multimaster robotics operative system architectures with a fleet of robots in real scenarios. This solution minimizes the use of communications bandwidth required for full operation. Finally, field results are provided, and the advantages of the implemented solution are analyzed.

Original language	English
Pages (from-to)	1087-1106
Number of pages	20
Journal	Journal of Field Robotics
Volume	33
Issue number	8
DOIs	https://doi.org/10.1002/rob.21636
Publication status	Published - 2016
Externally published	Yes

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10.1002/rob.21636

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AU - Garzón, Mario

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AU - Roldán, Juan Jesús

AU - Cancar, Leandro

AU - Barrientos, Antonio

AU - Del Cerro, Jaime

PY - 2016

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AB - This work presents a complete multirobot solution for signal searching tasks in large outdoor scenarios. An evaluation of two different coverage path-planning strategies according to field size and shape is presented. A signal location system developed to simulate mines or chemical source detections is also described. The solution presented is a pioneer in evaluating multimaster robotics operative system architectures with a fleet of robots in real scenarios. This solution minimizes the use of communications bandwidth required for full operation. Finally, field results are provided, and the advantages of the implemented solution are analyzed.

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A Multirobot System for Distributed Area Coverage and Signal Searching in Large Outdoor Scenarios*

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