Collaborative Exploration of Unknown Environments with Teams of Mobile Robots
Revised Papers from the International Seminar on Advances in Plan-Based Control of Robotic Agents,
Distributed multi-robot coordination in area exploration
Robotics and Autonomous Systems
Distributed multi-robot coordination in area exploration
Robotics and Autonomous Systems
A study of terrain coverage models
Proceedings of the 2008 ACM symposium on Applied computing
New exploration strategy for cooperative mobile robots
EHAC'12/ISPRA/NANOTECHNOLOGY'12 Proceedings of the 11th WSEAS international conference on Electronics, Hardware, Wireless and Optical Communications, and proceedings of the 11th WSEAS international conference on Signal Processing, Robotics and Automation, and proceedings of the 4th WSEAS international conference on Nanotechnology
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In this paper, a frontier-based technique is used with two cooperating mobile robots to explore unknown environment. The aim is to decrease the exploration time. The proposed frontier-based exploration algorithm is based on a new bidding function in which we introduced a special parameter to decrease the overlap between the robots in addition to the utility and cost parameters. Tens of thousands experiments have been conducted to see the relative importance of the weight parameters used in this technique. As a result of these experiments, the weight values can be chosen to guarantee short exploration time. The proposed algorithm has been tested with a set of environments with different shapes and different numbers of obstacles. Finally, the results of our algorithm were compared with the results of one of known exploration algorithms available in the literature. The new technique led to promising results.