Multi-Robot Simultaneous Coverage and Mapping of Complex Scene

Laëtitia Matignon (1, 2) , Olivier Simonin (2, 3)

1 SyCoSMA - Systèmes Cognitifs et Systèmes Multi-Agents
2 CHROMA - Robots coopératifs et adaptés à la présence humaine en environnements dynamiques
3 INSA Lyon - Institut National des Sciences Appliquées de Lyon

In this demonstration, participants will explore a system for multi-robot observation of a complex scene involving the activity of a person. Mobile robots have to cooperate to find a position around the scene maximizing its coverage, i.e. allowing a complete view of the human skeleton. Simultaneously, they have to map the unknown environment around the scene. We developed a simulator presented in this paper that allows to generate an environment, a scene, and to simulate robots' observations and motion. During the demonstration, users will be able to test our simulator, including setting up a scenario and a decision algorithm, monitoring the movements, observations and maps of the robots, and visualizing the performance of the team.

Domaines: Informatique [cs]; Système multi-agents [cs.MA]; Robotique [cs.RO]

Laëtitia Matignon, Olivier Simonin. Multi-Robot Simultaneous Coverage and Mapping of Complex Scene. AAMAS 2018 - 17th International Conference on Autonomous Agents and Multiagent Systems - Demonstration, Jul 2018, Stockholm, Sweden. pp.1826-1828. ⟨hal-01774799⟩