Dataset Information

Symbiotic Navigation in Multi-Robot Systems with Remote Obstacle Knowledge Sharing.

ABSTRACT: Large scale operational areas often require multiple service robots for coverage and task parallelism. In such scenarios, each robot keeps its individual map of the environment and serves specific areas of the map at different times. We propose a knowledge sharing mechanism for multiple robots in which one robot can inform other robots about the changes in map, like path blockage, or new static obstacles, encountered at specific areas of the map. This symbiotic information sharing allows the robots to update remote areas of the map without having to explicitly navigate those areas, and plan efficient paths. A node representation of paths is presented for seamless sharing of blocked path information. The transience of obstacles is modeled to track obstacles which might have been removed. A lazy information update scheme is presented in which only relevant information affecting the current task is updated for efficiency. The advantages of the proposed method for path planning are discussed against traditional method with experimental results in both simulation and real environments.

SUBMITTER: Ravankar A

PROVIDER: S-EPMC5539694 | biostudies-other | 2017 Jul

REPOSITORIES: biostudies-other

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Symbiotic Navigation in Multi-Robot Systems with Remote Obstacle Knowledge Sharing.

Ravankar Abhijeet A Ravankar Ankit A AA Kobayashi Yukinori Y Emaru Takanori T

Sensors (Basel, Switzerland) 20170705 7

Large scale operational areas often require multiple service robots for coverage and task parallelism. In such scenarios, each robot keeps its individual map of the environment and serves specific areas of the map at different times. We propose a knowledge sharing mechanism for multiple robots in which one robot can inform other robots about the changes in map, like path blockage, or new static obstacles, encountered at specific areas of the map. This symbiotic information sharing allows the rob ...[more]

PMID: 28678193

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Project description:Knowledge sharing between individuals is a key process for knowledge-intensive organizations to create value and gain a competitive edge. An individual is in the center of a complex set of factors, which are conducive to the knowledge-sharing process. The purpose of this empirical study is to explain the interaction mechanisms between personality and knowledge-sharing behavior and to examine the mediating effects of willingness to share knowledge and subjective norm. The theory of planned behavior, the social exchange theory, and the big five personality traits theory are combined to explain tacit knowledge-sharing behavior. A survey strategy and purposive sampling was applied, and the analysis was conducted on a sample of 288 employees from Croatia working on knowledge-intensive tasks for which high levels of tacit knowledge sharing are characteristic. A standard online questionnaire consisted of items evaluated on a 7-point Likert-scale, ranging from strongly agree (7) to strongly disagree (1). In the structural model, relationships between altruism, willingness, subjective norm, and tacit knowledge sharing were tested. Confirmatory factor analysis with maximum likelihood estimation was performed by using SEM software AMOS version 23. The findings of the study suggest that altruism has a direct impact on tacit knowledge sharing, reaffirming a relationship with knowledge sharing but distinguishing between sharing of different types of knowledge, assessing tacit knowledge sharing as a construct separate from general knowledge sharing. Our findings suggest that willingness to share is a predictive factor of knowledge sharing behavior between employees, having both direct impact on tacit knowledge sharing and being a mediator between the trait of altruism and tacit knowledge sharing. The mediation test also indicates that altruism has an indirect influence on tacit knowledge sharing when subjective norm was a mediator. The findings suggest that personality traits relying on social capital, such as altruism, have more influence on tacit knowledge sharing compared to personality traits that have accentuated intrinsic components. The study contributes to the better understanding of factors stimulating knowledge-sharing behaviors and provides recommendations based on empirical evidence, which may later be applied in the development of knowledge-sharing leadership styles, employee hiring, and auxiliary initiatives.

Dataset Information

Symbiotic Navigation in Multi-Robot Systems with Remote Obstacle Knowledge Sharing.

Publications

Symbiotic Navigation in Multi-Robot Systems with Remote Obstacle Knowledge Sharing.

Similar Datasets

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