A multirobot system for distributed signal searching and localization in large outdoor scenarios Articles uri icon

authors

  • GARZÓN, MARIO
  • PEREIRA VALENTE, JOAO RICARDO
  • ROLDAN, JUAN JESUS
  • CANCAR, LEANDRO
  • BARRIENTOS, ANTONIO
  • DEL CERRO, JAIME

publication date

  • December 2016

start page

  • 1087

end page

  • 1106

issue

  • 8

volume

  • 33

International Standard Serial Number (ISSN)

  • 1556-4967

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.