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A very interesting challenge in the application of multi-robot systems is the construction of a multi-robot security system, which explores an area of interest and then starts searching for intruders. This challenge allows the demonstration and testing of many capabilities of modern autonomous robots like save navigation, map-building, cooperation and people detection. The task can be divided into a number of subtasks, of which all are required to be solved to make the full system work. Map-Building and Cooperation during exploration have already been studied in the past and stable solutions for these problems have been found and been tested extensively. Also the people detection aspect, based on laser range data, was implemented and led to satisfactory results. Our current focus of research is on the developement of planning algorithms for robot groups which are optimized for a number of goals:
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