dc.creatorOliveira, Janderson Rodrigo de
dc.creatorCalvo, Rodrigo
dc.creatorRomero, Roseli Aparecida Francelin
dc.creatorFigueiredo, Mauricio
dc.date.accessioned2015-03-24T13:59:20Z
dc.date.accessioned2018-07-04T17:00:09Z
dc.date.available2015-03-24T13:59:20Z
dc.date.available2018-07-04T17:00:09Z
dc.date.created2015-03-24T13:59:20Z
dc.date.issued2014-10
dc.identifierJoint Conference on Robotics and Intelligent Systems; Brazilian Robotics Symposium, 2th; Latin American Robotics Symposium, 11th; Workshop on Applied Robotics and Automation, 6th, 2014, São Carlos.
dc.identifier9781479967117
dc.identifierhttp://www.producao.usp.br/handle/BDPI/48640
dc.identifierhttp://dx.doi.org/10.1109/SBR.LARS.Robocontrol.2014.16
dc.identifier.urihttp://repositorioslatinoamericanos.uchile.cl/handle/2250/1643314
dc.description.abstractIn this work, an approach for cooperative and distributed mapping in a self-adaptive formation system based on a modified version of the ant colony optimization algorithm is proposed. The strategy is distributed, decentralized, real time and it is applied to tasks in which formation characteristic is an essential requirement. The coordination system’s design is inspired by the biological mechanisms that define a social organization in collective systems, specifically, the ant colony system. Voronoi tessalation and Delaunay triangulation techniques are used to model the formation strategy. The approach is adaptable for scenarios with suffer changes in the structure of the environment. The performance of the system is evaluated using a simulator. Simulation results show that the cooperative mapping is efficient, the trials are performed considering an indoor environment. Besides results show that the proposed formation approach is able to rearrange spatially the robots as they navigate, changing the relative robot distances according to the spatial environment restrictions.
dc.languageeng
dc.publisherUniversidade de São Paulo - USP
dc.publisherUniversidade Federal de São Carlos - UFSCar
dc.publisherCentro de Robótica de São Carlos - CROB
dc.publisherSociedade Brasileira de Computação - SBC
dc.publisherSociedade Brasileira de Automática – SBA
dc.publisherSão Carlos
dc.relationJoint Conference on Robotics and Intelligent Systems; Brazilian Robotics Symposium, 2th; Latin American Robotics Symposium, 11th; Workshop on Applied Robotics and Automation, 6th
dc.rightsCopyright IEEE
dc.rightsclosedAccess
dc.subjectCooperative mapping
dc.subjectformation
dc.subjectself-adaptive system
dc.subjectant colony algorithm
dc.titleAn approach for coordinating of the cooperative mapping in a self-adaptive formation system based on a modification of the ant colony algorithm
dc.typeActas de congresos


Este ítem pertenece a la siguiente institución