Performance benchmarking of multi-robot systems: Application to exploration

Performance benchmarking of multi-robot systems: Application to exploration

Zhi Yan
Luc Fabresse
Jannik Laval
Noury Bouraqadi

Département Informatique et Automatique, École des Mines de Douai, France

Laboratoire DISP, Université de Lyon, France

Corresponding Author Email: 
prenom.nom@mines-douai.fr
Page: 
211-236
|
DOI: 
https://doi.org/10.3166/RIA.30.211-236
Received: 
N/A
|
Accepted: 
N/A
|
Published: 
30 April 2016
| Citation

OPEN ACCESS

Abstract: 

Performance benchmarking has become an important topic within robotics. It is indeed, a critical way to compare different solutions under different conditions. In this paper, we focus on performance benchmarking of multi-robot systems which explore and map unknown terrains. We summarize metrics to objectively compare different algorithms that can be applied to collaborative multi-robot exploration. This work is also a first concrete step to address the general problem of objectively comparing different multi-robot coordination algorithms. We also identify parameters that impact robotic fleet performances. By varying these parameters, we can identify strengths and limits of an algorithm. We illustrate these contributions with realistic benchmark simulations of the frontier-based exploration strategy. The simulations were implemented in ROS (Robot Operating System).

Keywords: 

performance benchmarking, multi-robot systems, collaborative exploration.

1. Introduction
2. État de l’art
3. Benchmarking et plan d’expérience
4. Plans d’expériences pour l’exploration multirobot
5. Banc d’essai
6. Illustration avec des simulations
7. Conclusion
Remerciements

Ce travail fait partie du projet Sucré qui est soutenu par la Région Nord Pas-de-Calais.

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