Multi-robot data mapping simulation by using microsoft robotics developer studio

Matta Gómez, Antonio Alejandro and Cerro Giner, Jaime del and Barrientos Cruz, Antonio (2014). Multi-robot data mapping simulation by using microsoft robotics developer studio. "Simulation Modelling Practice and Theory", v. 49 ; pp. 305-319. ISSN 1569-190X. https://doi.org/10.1016/j.simpat.2014.10.003.

Description

Title: Multi-robot data mapping simulation by using microsoft robotics developer studio
Author/s:
  • Matta Gómez, Antonio Alejandro
  • Cerro Giner, Jaime del
  • Barrientos Cruz, Antonio
Item Type: Article
Título de Revista/Publicación: Simulation Modelling Practice and Theory
Date: December 2014
ISSN: 1569-190X
Volume: 49
Subjects:
Freetext Keywords: Service Oriented Computing (SOC); Multi-robot systems; Data mapping; Robotics frameworks; Microsoft robotics developer studio
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
Creative Commons Licenses: Recognition - No derivative works - Non commercial

Full text

[img]
Preview
PDF - Requires a PDF viewer, such as GSview, Xpdf or Adobe Acrobat Reader
Download (9MB) | Preview

Abstract

This document summarizes the goals achieved in the development of a data mapping appli- cation, for a multi-robot system, implemented as a service with the guidelines found in the Service Oriented Computing paradigm (SOC). The obtained service generates both local and global maps in the reconstruction of a virtual scenario: the local maps represent the sur- rounding area around each one of the mobile robots, and the global one the totality of the scenario where the robots move. The information of the global map is continuously updated by merging the data coming from the local maps by using a novel approach: each one of the maps manages a confidence level value that defines which of the data coming from the maps is worthy of being updated into the global one. This technique is not present in related work. The Microsoft Robotics Developer Studio framework was chosen for its implementation because of the advantages that this tool offers in the management of concurrent and distrib- uted processes, typically found in both a robotics platform and in a multi-robot system.

Funding Projects

TypeCodeAcronymLeaderTitle
Government of SpainDPI 2010-17998UnspecifiedUnspecifiedROTOS: multi-robot system for outdoor infrastructures protection

More information

Item ID: 46835
DC Identifier: http://oa.upm.es/46835/
OAI Identifier: oai:oa.upm.es:46835
DOI: 10.1016/j.simpat.2014.10.003
Official URL: http://www.sciencedirect.com/science/article/pii/S1569190X14001543
Deposited by: Memoria Investigacion
Deposited on: 21 Jun 2017 17:41
Last Modified: 21 Jun 2017 17:41
  • Logo InvestigaM (UPM)
  • Logo GEOUP4
  • Logo Open Access
  • Open Access
  • Logo Sherpa/Romeo
    Check whether the anglo-saxon journal in which you have published an article allows you to also publish it under open access.
  • Logo Dulcinea
    Check whether the spanish journal in which you have published an article allows you to also publish it under open access.
  • Logo de Recolecta
  • Logo del Observatorio I+D+i UPM
  • Logo de OpenCourseWare UPM