Frontier-based exploration using multiple robots
AGENTS '98 Proceedings of the second international conference on Autonomous agents
Exploring unknown environments with obstacles
Proceedings of the tenth annual ACM-SIAM symposium on Discrete algorithms
Terrain coverage with ant robots: a simulation study
Proceedings of the fifth international conference on Autonomous agents
From Ants to A(ge)nts: A Special Issue on Ant-Robotics
Annals of Mathematics and Artificial Intelligence
Coverage for robotics – A survey of recent results
Annals of Mathematics and Artificial Intelligence
Autonomous Robots
Distributed algorithms for guiding navigation across a sensor network
Proceedings of the 9th annual international conference on Mobile computing and networking
Understanding packet delivery performance in dense wireless sensor networks
Proceedings of the 1st international conference on Embedded networked sensor systems
Building Terrain-Covering Ant Robots: A Feasibility Study
Autonomous Robots
Link-level measurements from an 802.11b mesh network
Proceedings of the 2004 conference on Applications, technologies, architectures, and protocols for computer communications
Distributed Path Planning for Robots in Dynamic Environments Using a Pervasive Embedded Network
AAMAS '04 Proceedings of the Third International Joint Conference on Autonomous Agents and Multiagent Systems - Volume 3
Navigation protocols in sensor networks
ACM Transactions on Sensor Networks (TOSN)
International Journal of Robotics Research
Cooperative Cleaners: A Study in Ant Robotics
International Journal of Robotics Research
Multi-robot exploration of an unknown environment, efficiently reducing the odometry error
IJCAI'97 Proceedings of the Fifteenth international joint conference on Artifical intelligence - Volume 2
Coverage, exploration, and deployment by a mobile robot and communication network
IPSN'03 Proceedings of the 2nd international conference on Information processing in sensor networks
Exploring simple grid polygons
COCOON'05 Proceedings of the 11th annual international conference on Computing and Combinatorics
Coordinated multi-robot exploration
IEEE Transactions on Robotics
IEEE Transactions on Robotics
Multi robot exploration using a modified a algorithm
ACIIDS'11 Proceedings of the Third international conference on Intelligent information and database systems - Volume Part I
Evolutionary optimization of pheromone-based stigmergic communication
EvoApplications'12 Proceedings of the 2012t European conference on Applications of Evolutionary Computation
Exploiting a meeting channel to interconnect mobile robots
Journal of Network and Computer Applications
Smart environment interaction: A user assessment of embedded agents
Journal of Ambient Intelligence and Smart Environments - Intelligent agents in Ambient Intelligence and smart environments
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When an emergency occurs within a building, it may be initially safer to send autonomous mobile nodes, instead of human responders, to explore the area and identify hazards and victims. Exploring all the area in the minimum amount of time and reporting back interesting findings to the human personnel outside the building is an essential part of rescue operations. Our assumptions are that the area map is unknown, there is no existing network infrastructure, long-range wireless communication is unreliable and nodes are not location-aware. We take into account these limitations, and propose an architecture consisting of both mobile nodes (robots, called agents) and stationary nodes (inexpensive smart devices, called tags). As agents enter the emergency area, they sprinkle tags within the space to label the environment with states. By reading and updating the state of the local tags, agents are able to coordinate indirectly with each other, without relying on direct agent-to-agent communication. In addition, tags wirelessly exchange local information with nearby tags to further assist agents in their exploration task. Our simulation results show that the proposed algorithm, which exploits both tag-to-tag and agent-to-tag communication, outperforms previous algorithms that rely only on agent-to-tag communication.