Performance analysis for multi-robot exploration strategies

Authors:
Sebastian Frank;Kim Listmann;Dominik Haumann;Volker Willert
Affiliations:
TU Darmstadt, Control Theory & Robotics Lab, Darmstadt, Germany;TU Darmstadt, Control Theory & Robotics Lab, Darmstadt, Germany;TU Darmstadt, Control Theory & Robotics Lab, Darmstadt, Germany;TU Darmstadt, Control Theory & Robotics Lab, Darmstadt, Germany
Venue:
SIMPAR'10 Proceedings of the Second international conference on Simulation, modeling, and programming for autonomous robots
Year:
2010

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Abstract

In this note, we compare four different exploration strategies and analyze the performance in terms of exploration time and amount of exploration per time step. In order to provide a suitable reference for comparison, we derive an upper bound for the theoretically achievable increase of explored area per time step. The comparison itself is done using a comprehensive empirical evaluation resulting in statistically significant performance differences.