A Randomized Strategy for Cooperative Robot Exploration

• DOI: 10.1109/robot.2007.363079
• Publication Date: 2007-06-07T16:09:21Z
• Authors: Antonio Franchi; Luigi Freda; Giuseppe Oriolo; Marilena Vendittelli
• Keywords: 0209 industrial biotechnology; 02 engineering and technology

We present a cooperative exploration strategy for mobile robots. The method is based on the randomized incremental generation of collection data structures called sensor-based random trees, each representing roadmap an explored area with associated safe region. Decentralized cooperation and coordination mechanisms are introduced so as to improve efficiency avoid conflicts. Simulations in various environments presented show performance proposed technique.