Frontier-based exploration using multiple robots
AGENTS '98 Proceedings of the second international conference on Autonomous agents
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
Bluetooth and sensor networks: a reality check
Proceedings of the 1st international conference on Embedded networked sensor systems
Methods for Scalable Self-Assembly of Ad Hoc Wireless Sensor Networks
IEEE Transactions on Mobile Computing
Distributed multi-robot coordination in area exploration
Robotics and Autonomous Systems
Distributed multi-robot coordination in area exploration
Robotics and Autonomous Systems
Coordinate-free Coverage in Sensor Networks with Controlled Boundaries via Homology
International Journal of Robotics Research
Dynamic Area Coverage using Faulty Multi-Agent Swarms
IAT '07 Proceedings of the 2007 IEEE/WIC/ACM International Conference on Intelligent Agent Technology
Enhanced AODV routing protocol for Bluetooth scatternet
Computers and Electrical Engineering
Fusion of 2d and 3d sensor data for articulated body tracking
Robotics and Autonomous Systems
On the design of an obstacle avoiding trajectory: Method and simulation
Mathematics and Computers in Simulation
Collaborative coverage using a swarm of networked miniature robots
Robotics and Autonomous Systems
Multi-robot task allocation through vacancy chain scheduling
Robotics and Autonomous Systems
Exploring unknown environments with mobile robots using coverage maps
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
Navigating a robotic swarm in an uncharted 2D landscape
Applied Soft Computing
Bluetooth scatternet formation: A survey
Ad Hoc Networks
Vision-based global localization and mapping for mobile robots
IEEE Transactions on Robotics
Coordinated multi-robot exploration
IEEE Transactions on Robotics
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In the first part of the present paper, a novel communication scheme of an autonomous robot team via Bluetooth radio is investigated. In the presented solution, an autonomous unit is equipped with two independent Bluetooth radios and so a relatively fast communication is possible in the team in a static (i.e. no ad hoc) networking topology. The performance of such a network was tested by implementing a linear graph topology by NXT robots. It was found that the reliability and the speed of such a communication scheme are satisfactory and give rise to applications in a robot team control task. In the second part of the paper, an area exploration method is presented based on the static linear communication network above. The method was tested by computer simulations for various obstacle configurations and densities. It was found that the proposed method performs better than the chosen reference methods in the case of zero or low obstacle density and when high (75% or 100%) exploration ratio is required. With a simple proof, we have shown that the proposed (fixed chain-like team) exploration method is optimal in the obstacle-free case under the constraint of the connectivity with the base station.