Multi-robot exploration of an unknown environment, efficiently reducing the odometry error

Authors:
Ioannis M. Rekleitis;Gregory Dudek;Evangelos E. Milios
Affiliations:
Centre for Intelligent Machines, McGill University, Montreal, Quebec, Canada;Centre for Intelligent Machines, McGill University, Montreal, Quebec, Canada;Department of Computer Science, York University, North York, Ontario, Canada
Venue:
IJCAI'97 Proceedings of the Fifteenth international joint conference on Artifical intelligence - Volume 2
Year:
1997

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Abstract

This paper deals with the intelligent exploration of an unknown environment by autonomous robots. In particular, we present an algorithm and associated analysis for collaborative exploration using two mobile robots. Our approach is based on robots with range sensors limited by distance. By appropriate behavioural strategies, we show that odometry (motion) errors that would normally present problems for mapping can be severely reduced. Our analysis includes polynomial complexity bounds and a discussion of possible heuristics.