Departmental Papers (MEAM)

Document Type

Conference Paper

Date of this Version

April 2004

Comments

Copyright 2004 IEEE. Reprinted from Proceedings of the IEEE International Conference on Robotics and Automation 2004 (ICRA 2004) Volume 4, pages 4184-4189.
Publisher URL: http://ieeexplore.ieee.org/xpl/tocresult.jsp?isNumber=29027&page=11

This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.

Abstract

Communication is essential for coordination in most cooperative control and sensing paradigms. In this paper, we investigate the construction of a map of radio signal strength that can be used to plan multirobot tasks and also serve as useful perceptual information. We show how nominal models of an urban environment, such as those obtained by aerial surveillance, can be used to generate strategies for exploration and present preliminary experimental results with our multi-robot testbed.

Share

COinS

Date Posted: 19 November 2004

This document has been peer reviewed.