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Demonstration of multi-robot search and secure
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-7309-8086
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2010 (English)Conference paper, Published paper (Refereed)
Abstract [en]

We consider the search and secure problem, where intruders are to be detected in a bounded area without allowing them to escape. The problem is tackled by representing the area to be searched as a traversability graph, which is reduced to a tree graph by placing stationary robots to remove loops. The search of the remaining tree is performed using two strategies that represent different trade-offs between the needed search time and the number of robots. Proof of correctness is provided for these two strategies. The proposed algorithm was implemented and demonstrated as part of an outfield experiment involving a team of Rotundus spherical robots.

Place, publisher, year, edition, pages
2010.
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-80001OAI: oai:DiVA.org:kth-80001DiVA: diva2:495914
Conference
IEEE ICRA, Anchorage, AK, USA
Note
QC 20120210Available from: 2012-02-10 Created: 2012-02-09 Last updated: 2012-03-21Bibliographically approved

Open Access in DiVA

multirobot_icra10_workshop(234 kB)194 downloads
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File name FULLTEXT01.pdfFile size 234 kBChecksum SHA-512
9345877e6bed9ee32f18e1bbf8fc9d5dcc6192ecfe9a506a895eabd7354e818f1dba5c3a478d423d91f1a734f7f61225db305ecb1226a84af69849ec7d9621ce
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ICRA2010

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Dimarogonas, Dimos V.Johansson, Karl Henrik

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Lindhé, MagnusDimarogonas, Dimos V.Johansson, Karl Henrik
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Automatic ControlACCESS Linnaeus Centre
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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf