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Mapping, localization and motion planning in mobile multi-robotic systems

Published online by Cambridge University Press:  09 February 2012

William Rone  and
Pinhas Ben-Tzvi
William Rone
Affiliation:
Robotics and Mechatronics Laboratory, Department of Mechanical and Aerospace Engineering, The George Washington University, Washington, DC, USA
Pinhas Ben-Tzvi*
Affiliation:
Robotics and Mechatronics Laboratory, Department of Mechanical and Aerospace Engineering, The George Washington University, Washington, DC, USA
*
*Corresponding Author. E-mail: bentzvi@gwu.edu
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Summary

As researchers have pushed the limits of what can be accomplished by a single robot operating in a known or unknown environment, a greater emphasis has been placed on the utilization of mobile multi-robotic systems to accomplish various objectives. In transitioning from a robot-centric approach to a system-centric approach, considerations must be made for the computational and communicative aspects of the group as a whole, in addition to electromechanical considerations of individual robots. This paper reviews the state-of-the-art of mobile multi-robotic system research, with an emphasis on the confluence of mapping, localization and motion control of robotic system. Methods that compose these three topics are presented, including areas of overlap, such as integrated exploration and simultaneous localization and mapping. From these methods, an analysis of benefits, challenges and tradeoffs associated with multi-robotic system design and use are presented. Finally, specific applications of multi-robotic systems are also addressed in various contexts.

Keywords

Multi-robotic systemsMobile robotsMotion planningRobot localizationSLAMPath planningRobotic exploration
Type
Articles
Information
Robotica , Volume 31 , Issue 1 , January 2013 , pp. 1 - 23
Copyright
Copyright © Cambridge University Press 2012

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