Cooperative Exploration and Networking While Preserving Collision Avoidance
研究多机器人在未知环境中部署信息节点构建网络，同时通过碰撞避免控制律确保机器人之间及与障碍物不碰撞，仿真验证了策略的可扩展性和有效性。
Monitoring of large complex environments, such as underwater environments, is an important task in surveillance. An information (sensor) network can be built to achieve the task. To build an information network in an unknown workspace, we use multiple robots deploying information nodes. While robots build the network, they localize themselves as well as deployed nodes in the global coordinate system. Our multirobot networking strategy is as follows: each robot iteratively visits a frontier, which borders an unsensed area, until all areas are explored. As multiple robots explore the workspace, a robot must avoid colliding with another robot as well as with an obstacle. Hence, we introduce collision avoidance control laws and integrate the control laws with our cooperative networking strategy. Using MATLAB simulations, we verify the scalability and effectiveness of both our networking strategy and the collision avoidance control laws.