Adaptive Control Network for Multi-Robot Exploration

Jose Vazquez, Malcolm Chris



This work addresses the problem of exploring an environment with a team of communicating robots. Exploration can be performed more efficiently when robots are able to communicate and coordinate their actions. We propose an adaptive control approach to keep the robots as a single connected network. In this approach a control network is created at the beginning of the exploration based on the communication network. As the robots traverse the environment the control network is updated to enhance connectivity. The approach has been implemented for Line of Sight and Radio Frequency technologies. Our approach has been compared with coordination approaches that rely on fixed networks. The results show that our approach performs better than these fixed network approaches.


  1. George A Kantor, Sanjiv Singh, and R. Peterson. Distributed search and rescue with robot and sensor teams. In The 4th Int'l Conf. on Field and Service Robotics, July 2003.
  2. MaxStream. Indoor Path Loss: Application Note. MaxStream, 2003.
  3. O. Michel. Webots: Professional Mobile Robot Simulation. Journal of Advanced Robotics Systems, 1(1):39-42, 2004.
  4. Matthew Powers and Tucker Balch. Value-based communication preservation for mobile robots. In International Conference on Robotics and Automation, 2004.
  5. T. S. Rappaport. Wireless Communication: Principles and Practice. Prentice Hall, 2nd edition, 2001.
  6. R. Simmons, W. Burgard, D. Fox, and S. Thrun. Coordination for multi-robot exploration and mapping. In Proc. of the Nat'l Conf. on Artificial Intelligence, pages 852-858, 2000.
  7. B.J. Thibodeau, A.H. Fagg, and B.N. Levine. Signal strength coordination for cooperative mapping. Technical Report 04-64, University of Massachusetts Amherst, July 2004.
  8. S. Thrun. Robotic Mapping: A Survey. In G. Lakemeyer and B. Nebel, editors, Exploring Artificial Intelligence in the New Millenium, pages 1-35. Morgan Kaufmann, 2002.
  9. P. Ulam and R. Arkin. When good communication go bad: communications recovery for multi-robot teams. In Proc. of the Int'l. Conf. on Robotics and Automation, pages 3727- 3734, 2004.
  10. Jose Vazquez. The BERODE architecture. PhD thesis, University of Edinburgh, 2006.
  11. Jose Vazquez and Chris Malcolm. Fusion of triangulated sonar plus infrared sensing for localization and mapping. In Proc. of the 2nd Int'l IEEE Conf. on Int. Systems, June 2005.
  12. Alan Wagner and Ronald Arkin. Multi-robot communication-sensitive reconnaissance. In Proc. of the IEEE Int'l Conf. on Intelligent Robotics and Systems, pages 4674-4681, 2004.
  13. Alan FT Winfield. Distributed sensing and data collection via broken ad hoc wireless networks. In Distributed Autonomous Robotic Systems, volume 4, pages 273-282, 2000.

Paper Citation

in Harvard Style

Vazquez J. and Chris M. (2006). Adaptive Control Network for Multi-Robot Exploration . In Proceedings of the 2nd International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2006) ISBN 978-972-8865-66-5, pages 44-53. DOI: 10.5220/0001222700440053

in Bibtex Style

author={Jose Vazquez and Malcolm Chris},
title={Adaptive Control Network for Multi-Robot Exploration},
booktitle={Proceedings of the 2nd International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2006)},

in EndNote Style

JO - Proceedings of the 2nd International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2006)
TI - Adaptive Control Network for Multi-Robot Exploration
SN - 978-972-8865-66-5
AU - Vazquez J.
AU - Chris M.
PY - 2006
SP - 44
EP - 53
DO - 10.5220/0001222700440053