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Efficient Multi-Agent Exploration with Gaussian Processes

Viseras Ruiz, Alberto and Angermann, Michael and Wieser, Iris and Frassl, Martin and Müller, Joachim (2014) Efficient Multi-Agent Exploration with Gaussian Processes. In: Australasian Conference on Robotics and Automation, ACRA. Australasian Conference on Robotics and Automation (ACRA), 02-04 Dec 2014, Melbourne, Australia.

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Abstract

We present a robust and scalable algorithm to enable multiple robots to efficiently explore previously unknown environments. Applications of this algorithm include but are not limited to the exploration of scalar (e.g. concentration of a chemical substance) or vector fields (e.g. direction and intensity of the magnetic field). As opposed to previous works, our algorithm does not require prior knowledge about the shape or size of the environment. Also, its time complexity decreases from cubic to linear in respect to the environment's size. The algorithm employs a Gaussian process model to predict values at still unvisited locations and associates them an uncertainty. Based on a continuously updated map of these predicted values and uncertainties, each robot computes its next movement online by following the local gradient of uncertainty. We have experimentally validated our algorithm with densely measured data of an indoor magnetic field with significant spatial variations. We present a performance comparison of our algorithm with several trajectories. This comparison shows that the estimate computed by our algorithm approaches the true state of the environment faster than these other alternatives.

Item URL in elib:https://elib.dlr.de/118903/
Document Type:Conference or Workshop Item (Keynote)
Title:Efficient Multi-Agent Exploration with Gaussian Processes
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Viseras Ruiz, Albertoalberto.viserasruiz (at) dlr.deUNSPECIFIED
Angermann, Michaelmichael.angermann (at) dlr.deUNSPECIFIED
Wieser, Irisiris.wieser (at) dlr.deUNSPECIFIED
Frassl, Martinmartin.frassl (at) dlr.deUNSPECIFIED
Müller, Joachimjoachim.mueller (at) dlr.deUNSPECIFIED
Date:December 2014
Journal or Publication Title:Australasian Conference on Robotics and Automation, ACRA
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Status:Published
Keywords:Exploration, Multi-Agent System, Sensor Network, Mobile Robot
Event Title:Australasian Conference on Robotics and Automation (ACRA)
Event Location:Melbourne, Australia
Event Type:international Conference
Event Dates:02-04 Dec 2014
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Traffic Management (old)
DLR - Research area:Transport
DLR - Program:V VM - Verkehrsmanagement
DLR - Research theme (Project):V - Vabene++ (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Viseras Ruiz, Alberto
Deposited On:09 Feb 2018 13:30
Last Modified:31 Jul 2019 20:16

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