Learning metric-topological maps for indoor mobile robot navigation
Artificial Intelligence
Exploring unknown environments with obstacles
Proceedings of the tenth annual ACM-SIAM symposium on Discrete algorithms
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
A frontier-based approach for autonomous exploration
CIRA '97 Proceedings of the 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation
Distributed multi-robot coordination in area exploration
Robotics and Autonomous Systems
Distributed multi-robot coordination in area exploration
Robotics and Autonomous Systems
Coordinated multi-robot exploration
IEEE Transactions on Robotics
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In this paper we propose a completely distributed multi-robot coordination algorithm to explore and map terrain. This algorithm is based on a market bidding process of unrevealed frontiers, where the bids are calculated by each robot. When it reaches the target the robot makes a decision by itself, which involves every one of the team members without lost of time in a distributed behavior and without the necessity of a central module. The result is an efficient and fault tolerant approach.The bid function includes the distance of the actual robot towards the frontier, the distances to the others robots and theirs objectives. This function gives a tendency of robots separation in a minimum route towards the frontier.