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Nikhil Soni

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2 papers

2 author rows

IROS Conference 2013 Conference Paper

Heterogeneous UGV-MAV exploration using integer programming

Ayush Dewan
Aravindh Mahendran
Nikhil Soni
K. Madhava Krishna

This paper presents a novel exploration strategy for coordinated exploration between unmanned ground vehicles (UGV) and micro-air vehicles (MAV). The exploration is modeled as an Integer Programming (IP) optimization problem and the allocation of the vehicles(agents) to frontier locations is modeled using binary variables. The formulation is also studied for distributed system, where agents are divided into multiple teams using graph partitioning. Optimization seamlessly integrates several practical constraints that arise in exploration between such heterogeneous agents and provides an elegant solution for assigning task to agents. We have also presented comparison with previous methods based on distance traversed and computational time to signify advantages of presented method. We also show practical realization of such an exploration where an UGV-MAV team efficiently builds a map of an indoor environment.

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AAMAS Conference 2013 Conference Paper

Optimization Based Coordinated UGV-MAV Exploration for 2D Augmented Mapping

Ayush Dewan
Aravindh Mahendran
Nikhil Soni
Madhava Krishna

This paper presents a novel optimization formulation for coordinated exploration between unmanned ground vehicles (UGV) and micro-aerial vehicles (MAV). The exploration is posed as an Integer Programming (IP) problem and the allotment of these vehicles(agents) to frontier locations is speciﬁed 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 allotment 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 environment.

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