@inproceedings{10cfa0e8fce641889d308c2e3ccf42dc,
title = "Cooperative multi-robot systems a study of vision-based 3-D mapping using information theory",
abstract = "Building cooperatively 3-D maps of unknown environments is one of the application fields of multi-robot systems. This article introduces a distributed architecture, within a probabilistic framework for vision-based 3-D mapping, whereby each robot is committed to cooperate with other robots through information sharing. An entropy-based measure of information utility is defined, which a robot uses for communicating to its teammates the most useful measurements, thus preventing the robot to overwhelm communication resources with redundant information. Experiments with real robots, equipped with stereo-vision, yielded important conclusions about the way robots should cooperate on sharing information.",
keywords = "3-D mapping, Communication, Cooperative multi-robot systems, Entropy, Information utility",
author = "Rui Rocha and Jorge Dias and Adriano Carvalho",
year = "2005",
doi = "10.1109/ROBOT.2005.1570149",
language = "British English",
isbn = "078038914X",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
pages = "384--389",
booktitle = "Proceedings of the 2005 IEEE International Conference on Robotics and Automation",
note = "2005 IEEE International Conference on Robotics and Automation ; Conference date: 18-04-2005 Through 22-04-2005",
}