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Sensors 2017, 17(8), 1878; https://doi.org/10.3390/s17081878

Hitchhiking Robots: A Collaborative Approach for Efficient Multi-Robot Navigation in Indoor Environments

Lab of Robotics and Dynamics, Faculty of Engineering, Hokkaido University, Sapporo 060-8628, Japan
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Received: 16 June 2017 / Revised: 9 August 2017 / Accepted: 12 August 2017 / Published: 15 August 2017
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Abstract

Hitchhiking is a means of transportation gained by asking other people for a (free) ride. We developed a multi-robot system which is the first of its kind to incorporate hitchhiking in robotics, and discuss its advantages. Our method allows the hitchhiker robot to skip redundant computations in navigation like path planning, localization, obstacle avoidance, and map update by completely relying on the driver robot. This allows the hitchhiker robot, which performs only visual servoing, to save computation while navigating on the common path with the driver robot. The driver robot, in the proposed system performs all the heavy computations in navigation and updates the hitchhiker about the current localized positions and new obstacle positions in the map. The proposed system is robust to recover from `driver-lost’ scenario which occurs due to visual servoing failure. We demonstrate robot hitchhiking in real environments considering factors like service-time and task priority with different start and goal configurations of the driver and hitchhiker robots. We also discuss the admissible characteristics of the hitchhiker, when hitchhiking should be allowed and when not, through experimental results. View Full-Text
Keywords: multi-robot navigation; multi-robot cooperation; indoor robot systems multi-robot navigation; multi-robot cooperation; indoor robot systems
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Ravankar, A.; Ravankar, A.A.; Kobayashi, Y.; Emaru, T. Hitchhiking Robots: A Collaborative Approach for Efficient Multi-Robot Navigation in Indoor Environments. Sensors 2017, 17, 1878.

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