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Real-Time Cooperative Exploration by Reaction-Diffusion Equation on a Graph

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Distributed Autonomous Robotic Systems 5

Abstract

In this paper we present a path planning method for the environment exploration using the reaction-diffusion equation on a graph. We autonomously arrange sub-goals for robots to go along and explore the environment. By using reaction-diffusion on a graph for sub-goals arrangement, we can deal with the emergence of unknown objects or obstacles in the dynamic environment. This method also can explore the environment in real-time and make sure that robots completely explore all the area in the environment. The results given in this paper demonstrate that our method successfully solves exploration problems both in simulations and in real robot experiments.

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Author information

Authors and Affiliations

  1. University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan

    Chomchana Trevai, Keisuke Ichikawa, Yusuke Fukazawa, Hideo Yuasa, Jun Ota & Tamio Arai

  2. RIKEN:The Institute of Physical and Chemical Research, 2-1 Hirosawa, Wako-shi, Saitama, 351-0198, Japan

    Hajime Asama

Authors
  1. Chomchana Trevai
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  2. Keisuke Ichikawa
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  3. Yusuke Fukazawa
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  4. Hideo Yuasa
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  5. Jun Ota
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  6. Tamio Arai
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  7. Hajime Asama
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Editor information

Editors and Affiliations

  1. Advanced Engineering Center, RIKEN (The Institute of Physical and Chemical Research), 2-1 Hirosawa, 351-0198, Wako-shi, Saitama, Japan

    Hajime Asama (Head of Instrumentation Project Promotion Division) (Head of Instrumentation Project Promotion Division)

  2. Department of Precision Machinery Engineering, The Unviersity of Tokyo, 7-3-1 Hongo, 113-8656, Bunkyo-ku, Tokyo, Japan

    Tamio Arai (Professor) (Professor)

  3. Department of Micro System Engineering, Nagoya University, 464-8603, Furo-cho, Chikusa-ku, Nagoya, Japan

    Toshio Fukuda (Professor) (Professor)

  4. Department of Intelligent Systems Graduate School of Information and Electrical Engineering, Kyushu University, 6-10-1 Hakozaki, 812-8581, Higaschi-ku, Fukuoka, Japan

    Tsutomu Hasegawa (Professor) (Professor)

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© 2002 Springer-Verlag Tokyo

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Trevai, C. et al. (2002). Real-Time Cooperative Exploration by Reaction-Diffusion Equation on a Graph. In: Asama, H., Arai, T., Fukuda, T., Hasegawa, T. (eds) Distributed Autonomous Robotic Systems 5. Springer, Tokyo. https://doi.org/10.1007/978-4-431-65941-9_38

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  • DOI: https://doi.org/10.1007/978-4-431-65941-9_38

  • Publisher Name: Springer, Tokyo

  • Print ISBN: 978-4-431-65943-3

  • Online ISBN: 978-4-431-65941-9

  • eBook Packages: Springer Book Archive

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