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Sensors 2015, 15(3), 6483-6496;

Cooperative Environment Scans Based on a Multi-Robot System

Yonsei Institute of Convergence Technology, Yonsei University, Songdogwahak-ro, Yeonsu-gu, Incheon 406-840, Korea
Academic Editor: Bernhard Tittmann
Received: 19 January 2015 / Revised: 21 February 2015 / Accepted: 6 March 2015 / Published: 17 March 2015
(This article belongs to the Section Physical Sensors)
Full-Text   |   PDF [1961 KB, uploaded 17 March 2015]   |  


This paper proposes a cooperative environment scan system (CESS) using multiple robots, where each robot has low-cost range finders and low processing power. To organize and maintain the CESS, a base robot monitors the positions of the child robots, controls them, and builds a map of the unknown environment, while the child robots with low performance range finders provide obstacle information. Even though each child robot provides approximated and limited information of the obstacles, CESS replaces the single LRF, which has a high cost, because much of the information is acquired and accumulated by a number of the child robots. Moreover, the proposed CESS extends the measurement boundaries and detects obstacles hidden behind others. To show the performance of the proposed system and compare this with the numerical models of the commercialized 2D and 3D laser scanners, simulation results are included. View Full-Text
Keywords: cooperative environment scan system; multi-robot system; laser scanner; LRF; LiDAR cooperative environment scan system; multi-robot system; laser scanner; LRF; LiDAR

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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).

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Kwon, J.-W. Cooperative Environment Scans Based on a Multi-Robot System. Sensors 2015, 15, 6483-6496.

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