A Multirobot System for Distributed Area Coverage and Signal Searching in Large Outdoor Scenarios*

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A Multirobot System for Distributed Area Coverage and Signal Searching in Large Outdoor Scenarios*

Journal Article (2016)

Author(s)

Mario Garzón (Consejo Superior de Investigaciones Científicas CSIC)

João Valente (Consejo Superior de Investigaciones Científicas CSIC, Carlos III University of Madrid)

Juan Jesús Roldán (Consejo Superior de Investigaciones Científicas CSIC)

Leandro Cancar (Consejo Superior de Investigaciones Científicas CSIC)

Antonio Barrientos (Consejo Superior de Investigaciones Científicas CSIC)

Jaime Del Cerro (Consejo Superior de Investigaciones Científicas CSIC)

DOI related publication

https://doi.org/10.1002/rob.21636 Final published version

To reference this document use

https://resolver.tudelft.nl/uuid:df0cc8fe-fb64-4001-aef4-5754db6fd2ba

More Info

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Publication Year

2016

Language

English

Journal title

Journal of Field Robotics

Issue number

8

Volume number

33

Pages (from-to)

1087-1106

Downloads counter

170

Abstract

This work presents a complete multirobot solution for signal searching tasks in large outdoor scenarios. An evaluation of two different coverage path-planning strategies according to field size and shape is presented. A signal location system developed to simulate mines or chemical source detections is also described. The solution presented is a pioneer in evaluating multimaster robotics operative system architectures with a fleet of robots in real scenarios. This solution minimizes the use of communications bandwidth required for full operation. Finally, field results are provided, and the advantages of the implemented solution are analyzed.