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Distributed Constraint Reasoning Applied to Multi-robot Exploration

Distributed Constraint Reasoning Applied to Multi-robot Exploration,10.1109/ICTAI.2009.104,Arnaud Doniec,Noury Bouraqadi,Michael Defoort,Van Tuan Le,S

Distributed Constraint Reasoning Applied to Multi-robot Exploration   (Citations: 3)
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Exploration of an unknown environment is one of the major applications of multi-robot systems. Many works have proposed multi-robot coordination algorithms to accomplish exploration missions based on multi-agent techniques. Some of these works focus on multi-robot exploration under communication constraints. In this paper, we propose an original way to formalize and solve this issue. Our proposal relies on distributed constraint satisfaction problems (disCSP) which are an extension of classical constraint satisfaction problems (CSP). Compared to other works, our proposal is fully distributed and guaranties the exploration of an unknown environment with maintenance of connectivity between all the members of a robots' team.
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    • ...In this paper, we focus on a multi-agent exploration problem [2]...
    • ...The agents move toward the frontier between open space and unexplored area [2]...
    • ...The assignment of each variable has to satisfy two constraints [2]: (1) according to a direction, the future position of an agent does not have to break the connectivity of the network; (2) according to a direction, the future position of an agent does not have to create overlapping with the sensor range of its neighbors...

    Pierre Monieret al. Comparison of DCSP Algorithms: A Case Study for Multi-agent Exploratio...

    • ...This issue can be addressed from a multi-agent coordination perspective using classical technique such as bidding algorithms for example [1], but it is also possible to model this problem using Distributed Constraint Reasoning (DCR) [2]...
    • ...In this paper, we propose to compare DisCSP algorithms on a multi-robot exploration problem [2] using both classical and real world metrics...
    • ...These two last requirements can be integrated into a coordination scheme as constraints of a disCSP [2]...
    • ...In figure 1, the first requirement is not fulfilled by robots 1 and 4. The second requirement is not satisfied by the robots 4 and 6. Details about formalization of these two constraints and complete description of the disCSP can be found in [2]...

    Pierre Monieret al. Metrics for the Evaluation of DisCSP: Some Experiments on Multi-robot ...

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