Communication in reactive multiagent robotic systems
Autonomous Robots
Frontier-based exploration using multiple robots
AGENTS '98 Proceedings of the second international conference on Autonomous agents
Robot Motion Planning
Computers and Intractability; A Guide to the Theory of NP-Completeness
Computers and Intractability; A Guide to the Theory of NP-Completeness
Multi-robot collaboration for robust exploration
Annals of Mathematics and Artificial Intelligence
Cooperative Mobile Robotics: Antecedents and Directions
Autonomous Robots
Coordination for Multi-Robot Exploration and Mapping
Proceedings of the Seventeenth National Conference on Artificial Intelligence and Twelfth Conference on Innovative Applications of Artificial Intelligence
Image Analysis and Mathematical Morphology
Image Analysis and Mathematical Morphology
Interference as a tool for designing and evaluating multi-robot controllers
AAAI'97/IAAI'97 Proceedings of the fourteenth national conference on artificial intelligence and ninth conference on Innovative applications of artificial intelligence
Coordinated multi-robot exploration
IEEE Transactions on Robotics
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We present a decentralized cooperative exploration strategy for mobile robots. A roadmap of the explored area, with the associate safe region, is built in the form of a compact data structure, called Sensor-based Random Graph. This is incrementally expanded by the robots by using a randomized local planner which automatically realizes a trade-off between information gain and navigation cost. Connecting structures, called bridges, are incrementally added to the graph to create shortcuts and improve the connectivity of the roadmap. Decentralized cooperation and coordination mechanisms are used so as to guarantee exploration efficiency and avoid conflicts. Simulations are presented to show the performance of the proposed technique.