Experimental Study on the Effects of Communication on Cooperative Search in Complex Environments

ÇAYIRPUNAR ÖMER, Ömer, GAZI,, Veysel, TAVLI, Bülent, WITKOWSKI, Ulf and PENDERS, Jacques (2010). Experimental Study on the Effects of Communication on Cooperative Search in Complex Environments. In: BAUDOIN, Yvan and HABIB, Maki, (eds.) Using robots in hazardous environments. Oxford, Woodhead Publishing, 535-557.

[img] Microsoft Word

Download (1MB)


In this study we investigated the benefits of networked communication by experimentally evaluating the results of two search algorithms which are spiral search and informed random search. Both simulations and real experiments are performed in order to get objective results. The robotic experiments were performed in an experimental area containing obstacles where the communication ranges were “simulated” with the help of an overhead camera. Each robot was allowed to keep an occupancy grid based local map of the environment containing also information about the cells it has visited and to exchange this information with the other robots within its communication range. The effect of the size of communication range on the performance of the system defined as the time of completion the search task (i.e, locating the target), was investigated.

Item Type: Book Section
Research Institute, Centre or Group - Does NOT include content added after October 2018: Materials and Engineering Research Institute > Modelling Research Centre > Microsystems and Machine Vision Laboratory
Page Range: 535-557
Depositing User: Jacques Penders
Date Deposited: 23 Sep 2011 09:27
Last Modified: 18 Mar 2021 20:45
URI: https://shura.shu.ac.uk/id/eprint/3899

Actions (login required)

View Item View Item


Downloads per month over past year

View more statistics