Abstract
A multi robot system can be highly beneficial for exploration, a core robotic task. This work presents an approach to multi robot exploration based in a parallelization of the single-robot SRT method. Each robot in the team constructs a SRT, taking into account the presence of others robots by means of a suitable redefinition of its local frontier and planning its motion towards areas that have not been explored by itself, and by the rest of the team. The strategy is completely decentralized and can be implemented with a limited communication range. Simulation results in various environments are presented to show the performance of our proposed strategy.
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P., A.T., L., A.S., L., M.A.O. (2008). Coordinated Multi-robot Exploration with SRT-Radial. In: Geffner, H., Prada, R., Machado Alexandre, I., David, N. (eds) Advances in Artificial Intelligence – IBERAMIA 2008. IBERAMIA 2008. Lecture Notes in Computer Science(), vol 5290. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88309-8_41
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DOI: https://doi.org/10.1007/978-3-540-88309-8_41
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-88308-1
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