A randomized strategy for cooperative robot exploration

Antonio Franchi, Luigi Freda, Giuseppe Oriolo, Marilena Vendittelli

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

31 Citations (Scopus)

Abstract

We present a cooperative exploration strategy for mobile robots. The method is based on the randomized incremental generation of a collection of data structures called sensor-based random trees, each representing a roadmap of an explored area with an associated safe region. Decentralized cooperation and coordination mechanisms are introduced so as to improve the exploration efficiency and to avoid conflicts. Simulations in various environments are presented to show the performance of the proposed technique.
Original languageEnglish
Title of host publicationProceedings 2007 IEEE International Conference on Robotics and Automation
Place of PublicationPiscataway, NJ
PublisherIEEE
Pages768-774
ISBN (Electronic)1-4244-0602-1
ISBN (Print)1-4244-0601-3
DOIs
Publication statusPublished - 2007
Externally publishedYes

Publication series

NameProceedings IEEE International Conference on Robotics and Automation
PublisherIEEE
Volume2007
ISSN (Print)1050-4729

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