Communicative Exploration with Robot Packs
نویسندگان
چکیده
Exploration is a core challenge for RoboCup Rescue. Socalled communicative exploration is a novel strategy for multi-robot exploration that unlike other approaches takes the limits of wireless communication systems into account. Here, previous results that where achieved for a team of robots linked to a basestation are significantly extended to also cover robot packs, i.e., multi-robot teams that are not permanently tied to an operator’s station. Unlike teams that are constrained by the immobility of a basestation, packs can explore arbitrarily large regions. Results from experiments with packs of 4, 5 and 6 robots are presented. The new strategy constantly maintains the communication between the robots while exploring, whereas the commonly used frontier-based exploration strategy, which is used in the experiments as comparison to our approach, leads to a rapid loss of communication.
منابع مشابه
Martijn N . Rooker A thesis submitted in partial fullfillment of the requirements for the degree of
Exploration is one of the main research topics in the field of mobile robotics. Multiple robots have been applied for different exploration algorithms In most of the these algorithms the robots exchange data via wireless communication assuming perfect data transmission in the whole environment. Unfortunately, this assumption does not always hold, as e.g. the range of wireless communication is l...
متن کاملExperiments in socially guided exploration: lessons learned in building robots that learn with and without human teachers
We present a learning system, Socially Guided Exploration, in which a social robot learns new tasks through a combination of self-exploration and social interaction. The system’s motivational drives, along with social scaffolding from a human partner, bias behavior to create learning opportunities for a hierarchical Reinforcement Learning mechanism. The robot is able to learn on its own, but ca...
متن کاملReal Time Robot Policy Adaptation Based on Intelligent Algorithms
In this paper we present a new method for robot real time policy adaptation by combining learning and evolution. The robot adapts the policy as the environment conditions change. In our method, we apply evolutionary computation to find the optimal relation between reinforcement learning parameters and robot performance. The proposed algorithm is evaluated in the simulated environment of the Cyb...
متن کاملOn the Communicative Aspect of Human-Robot Joint Action*
Actions performed in the context of a joint activity comprise two aspects: functional and communicative. The functional component achieves the goal of the action, whereas its communicative component, when present, expresses some information to the actor’s partners in the joint activity. The interpretation of such communication requires leveraging information that is public to all participants, ...
متن کاملIntegrated Communicative Robot “BUGNOID”
A communicative robot “BUGNOID” that integrates various sensory data and behavior modules is introduced with some experimental results. For the achievement of flexible communication with humans, the robot has multimodal interface holding diverse channels of communication. Moreover, the robot can recognize the environment taking a human’s behavior into account in order to co-exist with them.
متن کامل