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Cooperative exploration and protection of a workspace assisted by information networks

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Abstract

We develop strategies that enable multiple robots to cooperatively explore an unknown workspace while building information networks. Every robot deploys information nodes with sensing and communication capabilities while constructing the Voronoi diagram as the topological map of the workspace. The resulting information networks constructed by individual robots will eventually meet, allowing for inter-robot information sharing. The constructed information network is then employed by the mobile robots to protect the workspace against intruders. We introduce the intruder capturing strategy on the Voronoi diagram assisted by information networks.

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  1. Agency for Defense Development, Changwon, South Korea

    Jonghoek Kim

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  1. Jonghoek Kim
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Correspondence to Jonghoek Kim.

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Kim, J. Cooperative exploration and protection of a workspace assisted by information networks. Ann Math Artif Intell 70, 203–220 (2014). https://doi.org/10.1007/s10472-013-9383-5

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