Multi-robot Fast Model Construction Using Potential Field

Objective

Using a team of robots to get a map of indoor area within

• Minimum time
• Most coverage
• Least overlapping

Schedule

• [Jun 01 - Jun 08] Literature review
  • Look at ICRA 2012 & 2011
  • keywords: coverage, potential field, navigation, multi-robot exploration, local navigation, local path planning
  • List of papers, short annotation on each one
  • be very specific about what's different and what's the same
• [Jun 01 - Jul 08] Refine algorithm
  • Test on obstacle map
  • chart: amount of duplication -> average potential over time map
  • redo random noise
  • global scope oversee the whole map
    • Two output map: slam result map and potential map
    • Result map
    • Potential map
• [Jun 08 - Jul 01] MobileSim Integration
• [Jul 01 - Jul 15] MobileSim test runs
• [Jul 15 - Aug 01] Real robot integration complete
• [Aug 01 - Aug 15] Real robot test runs
• [Aug 15 - Sep 01] Paper writeup

Literature Review

Algorithms

test

Results

test

Conclusion

test

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-- (c) Fordham University Robotics and Computer Vision