ＭＡＲＳＨＡ：複数の自律移動ロボットの個体差を考慮した地図獲得システムの設計と実装
書誌事項
- タイトル別名
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- MARSHA: Design and Implementation of Map Acquiring System for Multiple Autonomous Mobile Robts.
抄録
In this paper, we describe a map acquiring system MARSHA for multi-robot environments. MARSHA addresses an important problem in multi-robot environments; how to share distributed/local knowledge. MARSHA tackles this problem in terms of relational expressions, which represent differences between every two robots. These relational expressions are computed by applying Matching Procedure to local maps which are generated by each robot individu-ally. By using these relational expressions, MARSHA makes it possible for all of the robots to utilize a global terrain map as their own map even if they do not travel around all the region. The effectiveness of the algorithm is shown through experiments with the implemented system on autonomous mobile robots.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 12 (6), 846-856, 1994
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390282679703935104
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- NII論文ID
- 130001815447
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- ISSN
- 18847145
- 02891824
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可