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Cooperative surveillance of unknown environmental boundaries by multiple nonholonomic robots. / Ovchinnikov, K.; Semakova, A.; Matveev, A.

In: Robotics and Autonomous Systems, 2015, p. 164-180.

Research output: Contribution to journal › Article

Harvard

Ovchinnikov, K, Semakova, A & Matveev, A 2015, 'Cooperative surveillance of unknown environmental boundaries by multiple nonholonomic robots', Robotics and Autonomous Systems, pp. 164-180. https://doi.org/10.1016/j.robot.2015.05.008

APA

Ovchinnikov, K., Semakova, A., & Matveev, A. (2015). Cooperative surveillance of unknown environmental boundaries by multiple nonholonomic robots. Robotics and Autonomous Systems, 164-180. https://doi.org/10.1016/j.robot.2015.05.008

Vancouver

Ovchinnikov K, Semakova A, Matveev A. Cooperative surveillance of unknown environmental boundaries by multiple nonholonomic robots. Robotics and Autonomous Systems. 2015;164-180. https://doi.org/10.1016/j.robot.2015.05.008

Author

Ovchinnikov, K. ; Semakova, A. ; Matveev, A. / Cooperative surveillance of unknown environmental boundaries by multiple nonholonomic robots. In: Robotics and Autonomous Systems. 2015 ; pp. 164-180.

BibTeX

@article{56e55af69d95419a9421aa97f09bd1cd,
title = "Cooperative surveillance of unknown environmental boundaries by multiple nonholonomic robots",
abstract = "{\textcopyright} 2015 Elsevier B.V. All rights reserved.Several anonymous Dubins-car like mobile robots travel in a planar environment that hosts a scalar field, like the level of radiation or concentration of a contaminant. The objective is to co-operatively detect and localize the boundary of the set where the field value exceeds a certain threshold. The robots suffer from deficits of competence, communication, perception, and maneuverability: they do not know the field profile a priory, are not aware of the team size, cannot communicate with and recognize one another, can measure only the value of the field at the current location, are subjected to nonholonomic constraints, and are able to move along paths of only limited curvatures. We propose a new decentralized navigation strategy that drives all robots to the desired environmental boundary, with subsequent stable circulation along it. This strategy is based on an autonomous control of every robot, prevents collisions between them and ultimately ensures their pseudo-u",
author = "K. Ovchinnikov and A. Semakova and A. Matveev",
year = "2015",
doi = "10.1016/j.robot.2015.05.008",
language = "English",
pages = "164--180",
journal = "Robotics and Autonomous Systems",
issn = "0921-8890",
publisher = "Elsevier",

}

RIS

TY - JOUR

T1 - Cooperative surveillance of unknown environmental boundaries by multiple nonholonomic robots

AU - Ovchinnikov, K.

AU - Semakova, A.

AU - Matveev, A.

PY - 2015

Y1 - 2015

N2 - © 2015 Elsevier B.V. All rights reserved.Several anonymous Dubins-car like mobile robots travel in a planar environment that hosts a scalar field, like the level of radiation or concentration of a contaminant. The objective is to co-operatively detect and localize the boundary of the set where the field value exceeds a certain threshold. The robots suffer from deficits of competence, communication, perception, and maneuverability: they do not know the field profile a priory, are not aware of the team size, cannot communicate with and recognize one another, can measure only the value of the field at the current location, are subjected to nonholonomic constraints, and are able to move along paths of only limited curvatures. We propose a new decentralized navigation strategy that drives all robots to the desired environmental boundary, with subsequent stable circulation along it. This strategy is based on an autonomous control of every robot, prevents collisions between them and ultimately ensures their pseudo-u

AB - © 2015 Elsevier B.V. All rights reserved.Several anonymous Dubins-car like mobile robots travel in a planar environment that hosts a scalar field, like the level of radiation or concentration of a contaminant. The objective is to co-operatively detect and localize the boundary of the set where the field value exceeds a certain threshold. The robots suffer from deficits of competence, communication, perception, and maneuverability: they do not know the field profile a priory, are not aware of the team size, cannot communicate with and recognize one another, can measure only the value of the field at the current location, are subjected to nonholonomic constraints, and are able to move along paths of only limited curvatures. We propose a new decentralized navigation strategy that drives all robots to the desired environmental boundary, with subsequent stable circulation along it. This strategy is based on an autonomous control of every robot, prevents collisions between them and ultimately ensures their pseudo-u

U2 - 10.1016/j.robot.2015.05.008

DO - 10.1016/j.robot.2015.05.008

M3 - Article

SP - 164

EP - 180

JO - Robotics and Autonomous Systems

JF - Robotics and Autonomous Systems

SN - 0921-8890

ER -

ID: 4009908