Approximation algorithms for terrain guarding
Information Processing Letters
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
Occupancy grids: a probabilistic framework for robot perception and navigation
Occupancy grids: a probabilistic framework for robot perception and navigation
On reduced time fault tolerant paths for multiple UAVs covering a hostile terrain
Proceedings of the 7th international joint conference on Autonomous agents and multiagent systems - Volume 3
Coordinated multi-robot exploration
IEEE Transactions on Robotics
IEEE Transactions on Robotics
Fast frontier detection for robot exploration
AAMAS'11 Proceedings of the 10th international conference on Advanced Agent Technology
Robot exploration with fast frontier detection: theory and experiments
Proceedings of the 11th International Conference on Autonomous Agents and Multiagent Systems - Volume 1
Optimization based coordinated UGV-MAV exploration for 2D augmented mapping
Proceedings of the 2013 international conference on Autonomous agents and multi-agent systems
Mapping a Network of Roads for an On-road Navigating Robot
Proceedings of Conference on Advances In Robotics
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We present a fast multi-robotic exploration methodology for 2D and 3D terrains. An asynchronous exploration strategy is introduced which shows significant improvements over the existing synchronous ones. A per-time visibility metric is being utilized by the algorithm. The metric allots the same weight for points for next view whose visibility over time ratios are equal. The outcome of this is that while the number of points visited to explore a terrain is nearly the same as other popular metrics found in literature, the time length of the paths are smaller in this case resulting in reduced time exploration. The results have been verified through extensive simulations in 2D and 3D. In 2D multiple robots explore unknown terrains that are office like, cluttered, corridor like and various combinations of these. In 3D we consider the case of multiple UAVs exploring a terrain represented as height fields. We introduce a way for calculating expected visibilities and a way of incorporating explored features in the per-time metric. The maximum height of the UAV at each location is governed by the so called exposure surface, beneath which the UAVs are constrained to fly. We also show performance gain of the present metric over others in experiments on a Pioneer 3DX robot.