Area Partitioning Method with Learning of Dirty Areas and Obstacles in Environments for Cooperative Sweeping Robots

Sea Vourchteang, Toshiharu Sugawara

研究成果: Conference contribution

6 被引用数 (Scopus)

抄録

In this paper, we introduce an extended performance-based partitioning method for the cooperative cleaning domain in the environment with obstacles. Due to ongoing advances in technology, robotic applications have been crucial for large and complicated areas that require cooperation and coordination in task operations by multiple robots. Therefore, our research has focused on methods for cooperation/coordination of multiple agents, which are the control programs of robots, using examples of cleaning tasks by multiple robots. Our proposed method partitions target area in a bottom-up manner, according to the characteristics of environments by identifying where are easy to be dirty, so that agents can clean their responsible areas effectively and evenly. Specifically, it also has included the learning to identify the shapes and the locations of obstacles in the environments via the steps of cleaning tasks because the shapes of obstacles affect the work performance. Our experiments showed that it could partition their responsible areas autonomously and effectively by taking into consideration the environmental characteristics. We also indicated that it could achieve efficient task operations in a more balanced manner by comparing these results with those by the conventional methods which assumed that the area is divided into equal-size sub areas and/or the environmental characteristics are given in advance.

本文言語English
ホスト出版物のタイトルProceedings - 2015 IIAI 4th International Congress on Advanced Applied Informatics, IIAI-AAI 2015
編集者Sachio Hirokawa, Kiyota Hashimoto, Tokuro Matsuo, Tsunenori Mine
出版社Institute of Electrical and Electronics Engineers Inc.
ページ523-529
ページ数7
ISBN(電子版)9781479999583
DOI
出版ステータスPublished - 2016 1 6
イベント4th IIAI International Congress on Advanced Applied Informatics, IIAI-AAI 2015 - Okayama, Japan
継続期間: 2015 7 122015 7 16

出版物シリーズ

名前Proceedings - 2015 IIAI 4th International Congress on Advanced Applied Informatics, IIAI-AAI 2015

Other

Other4th IIAI International Congress on Advanced Applied Informatics, IIAI-AAI 2015
国/地域Japan
CityOkayama
Period15/7/1215/7/16

ASJC Scopus subject areas

  • 情報システム
  • コンピュータ ネットワークおよび通信
  • コンピュータ サイエンスの応用
  • コンピュータ ビジョンおよびパターン認識

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