Frontier-based exploration using multiple robots
AGENTS '98 Proceedings of the second international conference on Autonomous agents
Cooperative Mobile Robotics: Antecedents and Directions
Autonomous Robots
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
Agent-based distributed architecture for mobile robot control
Engineering Applications of Artificial Intelligence
Exploration of a cluttered environment using Voronoi Transform and Fast Marching
Robotics and Autonomous Systems
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
Multi-robot visual SLAM using a Rao-Blackwellized particle filter
Robotics and Autonomous Systems
Coordinated multi-robot exploration
IEEE Transactions on Robotics
Multirobot systems: a classification focused on coordination
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
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In this paper we present a hybrid reactive/deliberative approach to the multi-robot integrated exploration problem. In contrast to other works, the design of the reactive and deliberative processes is exclusively oriented to the exploration having both the same importance level. The approach is based on the concepts of expected safe zone and gateway cell. The reactive exploration of the expected safe zone of the robot by means of basic behaviours avoids the presence of local minima. Simultaneously, a planner builds up a decision tree in order to decide between exploring the current expected safe zone or changing to other zone by means of travelling to a gateway cell. Furthermore, the model takes into account the degree of localization of the robots to return to previously explored areas when it is necessary to recover the certainty in the position of the robots. Several simulations demonstrate the validity of the approach.