Optimization based coordinated UGV-MAV exploration for 2D augmented mapping
Ayush Dewan, Aravindh Mahendran, Nikhil Soni, Madhava Krishna · 2013
This paper presents a novel optimization formulation for co-ordinated exploration between unmanned ground vehicles (UGV) and micro-aerial vehicles (MAV). The exploration is posed as an Integer Programming (IP) problem and the al-lotment of these vehicles(agents) to frontier locations is spec-ified as an integer constraint. The optimization provides a one shot solution for the allotment of all such active agents to possible frontier locations thereby guaranteeing substantial performance gain over previous approaches where the allot-ment proceeds in an incremental fashion. We also show a practical realization of such an exploration where an UGV-MAV team efficiently builds a map of an indoor environ-ment.