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Towards a Unifying Information Theoretic Framework for Multi-Robot Exploration and Surveillance

Julian, Brian J. and Angermann, Michael and Frassl, Martin and Lichtenstern, Michael (2011) Towards a Unifying Information Theoretic Framework for Multi-Robot Exploration and Surveillance. RSS 2011 - Robotics: Science and Systems - Workshop: 3D Exploration, Mapping, and Surveillance with Aerial Robots, Los Angeles, CA, USA.

Full text not available from this repository.

Abstract

In this talk we discuss our recent work on a mathematical framework for pursuing exploration and surveillance tasks using multiple collaborating robots. We ground this framework in the first principles of information theory, and in doing so establish a unifying model that considers the inter-dependencies of system resources pertaining to robot mobility, sensing, and communication. The framework identifies metrics that characterize system performance and provides qualitative understanding of quantitative results. We show that exploration and surveillance can be considered close relatives who can both be described with the same framework, and as a result approaches developed for one task can adaptively (or even better simultaneously) achieve goals for the other.

Item URL in elib:https://elib.dlr.de/74255/
Document Type:Conference or Workshop Item (Speech, Paper)
Title:Towards a Unifying Information Theoretic Framework for Multi-Robot Exploration and Surveillance
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Julian, Brian J.UNSPECIFIEDUNSPECIFIED
Angermann, MichaelUNSPECIFIEDUNSPECIFIED
Frassl, MartinUNSPECIFIEDUNSPECIFIED
Lichtenstern, MichaelUNSPECIFIEDUNSPECIFIED
Date:June 2011
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:multi-robot, exploration, surveillance
Event Title:RSS 2011 - Robotics: Science and Systems - Workshop: 3D Exploration, Mapping, and Surveillance with Aerial Robots
Event Location:Los Angeles, CA, USA
Event Type:international Conference, Workshop
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: Angermann, Dr.-Ing. Michael
Deposited On:23 Jan 2012 11:23
Last Modified:23 Jan 2012 11:23

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