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Summary: A Multirobot Architecture for Environmental Perception
Francesco Amigoni and Vincenzo Caglioti
Abstract -- This paper investigates some issues involved in
the design of multirobot systems for environmental
perception. The discussion is carried out by referring to a
multirobot system under development in our lab for mapping
unknown environments and for localizing electro-magnetic
field sources.
I. INTRODUCTION
In environmental monitoring, any system that has to
detect phenomena reliably and to produce detailed
environmental assessments has to be distributed [1] [2].
The use of multirobot systems for carrying sensors through
the environment represents a solution that has recently
received considerable attention [3].
In this paper we discuss some issues related to a
possible architecture for a multirobot system that performs
tasks related to environmental perception. We focus on a
multirobot system under development in our lab that
addresses the tasks of building the geometrical map of an
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