SCG '86 Proceedings of the second annual symposium on Computational geometry
Art gallery theorems and algorithms
Art gallery theorems and algorithms
Navigating in unfamiliar geometric terrain
STOC '91 Proceedings of the twenty-third annual ACM symposium on Theory of computing
Theoretical Computer Science
How to learn an unknown environment (extended abstract)
SFCS '91 Proceedings of the 32nd annual symposium on Foundations of computer science
Piecemeal graph exploration by a mobile robot (extended abstract)
COLT '95 Proceedings of the eighth annual conference on Computational learning theory
The power of a pebble: exploring and mapping directed graphs
STOC '98 Proceedings of the thirtieth annual ACM symposium on Theory of computing
Polylogarithmic-overhead piecemeal graph exploration
COLT' 98 Proceedings of the eleventh annual conference on Computational learning theory
Frontier-based exploration using multiple robots
AGENTS '98 Proceedings of the second international conference on Autonomous agents
Exploring Unknown Environments
SIAM Journal on Computing
The Polygon Exploration Problem
SIAM Journal on Computing
On a Simple Depth-First Search Strategy for Exploring Unknown Graphs
WADS '97 Proceedings of the 5th International Workshop on Algorithms and Data Structures
One Pebble Does Not Suffice to Search Plane Labyrinths
FCT '81 Proceedings of the 1981 International FCT-Conference on Fundamentals of Computation Theory
Optimal Graph Exploration without Good Maps
ESA '02 Proceedings of the 10th Annual European Symposium on Algorithms
A frontier-based approach for autonomous exploration
CIRA '97 Proceedings of the 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation
Networks
Optimal constrained graph exploration
ACM Transactions on Algorithms (TALG)
Tree exploration with logarithmic memory
SODA '07 Proceedings of the eighteenth annual ACM-SIAM symposium on Discrete algorithms
Map construction of unknown graphs by multiple agents
Theoretical Computer Science
SFCS '90 Proceedings of the 31st Annual Symposium on Foundations of Computer Science
Enhancing Exploration in Graph-like Worlds
CRV '08 Proceedings of the 2008 Canadian Conference on Computer and Robot Vision
Exploring an unknown graph efficiently
ESA'05 Proceedings of the 13th annual European conference on Algorithms
IEEE Transactions on Robotics
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In this paper we present an algorithm for the exploration of an unknown graph with k robots, which is guaranteed to succeed on any graph, and which on trees we prove to be near-optimal for two robots, having optimal dependence on the size of the tree but not on its radius. We believe that the algorithm performs well on any graph, and this is substantiated by simulations. For trees with n edges and radius r, the exploration time is 2n/k + O(rk-1), improving a recent method with O(n/log k + r) [1], and almost reaching the lower bound max(2n/k, 2r). The algorithm is meant to be used in indoor navigation or cave search scenarios where the environment can be modeled as a graph. In this scenario, communication is realized by the devices being dropped by the robots at explored vertices, and the states of which are read and changed by further visiting robots. Simulations on Player/Stage platform have been performed in both tree and graph exploration which corroborate the mathematical results.