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Autonomous 3D Exploration of Large Areas: A Cooperative Frontier-Based Approach

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Modelling and Simulation for Autonomous Systems (MESAS 2017)

Part of the book series: Lecture Notes in Computer Science ((LNISA,volume 10756))

Abstract

In this article a coordinated approach to 3D exploration of large uncluttered areas with a team of flying robots with constrained payload is proposed. Coordination is used as trump card for an effective exploration in feasible time and to overcome problems related to the limited computational power and autonomy of the robot platform. In particular, a 3D exploration strategy based on a combination of local and global information and a 4D motion planning are used for achieving 3D coverage of completely unknown environments.

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Notes

  1. 1.

    Target list is dynamic both in length and content. For the sake of simplicity, the notation has been simplified by removing time dependence of targets.

  2. 2.

    Single–agent exploration: https://youtu.be/iR0O06BE-fo,

    Multi–agent exploration: https://youtu.be/Oi6HLjiC3YI.

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Author information

Authors and Affiliations

  1. Centro di Ricerca “E. Piaggio”, Università di Pisa, Pisa, Italy

    Anna Mannucci, Simone Nardi & Lucia Pallottino

  2. Dipartimento di Ingegneria dell’Informazione, Università di Pisa, Pisa, Italy

    Anna Mannucci & Lucia Pallottino

  3. Dipartimento di Matematica, Università di Pisa, Pisa, Italy

    Simone Nardi

  4. Ingegneria dei Sistemi SpA, Pisa, Italy

    Simone Nardi

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  1. Anna Mannucci
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  2. Simone Nardi
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  3. Lucia Pallottino
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Correspondence to Anna Mannucci .

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Editors and Affiliations

  1. NATO Modelling and Simulation Centre of Excellence, Rome, Italy

    Jan Mazal

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Mannucci, A., Nardi, S., Pallottino, L. (2018). Autonomous 3D Exploration of Large Areas: A Cooperative Frontier-Based Approach. In: Mazal, J. (eds) Modelling and Simulation for Autonomous Systems. MESAS 2017. Lecture Notes in Computer Science(), vol 10756. Springer, Cham. https://doi.org/10.1007/978-3-319-76072-8_2

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  • DOI: https://doi.org/10.1007/978-3-319-76072-8_2

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