TY - GEN
T1 - A randomized strategy for cooperative robot exploration
AU - Franchi, Antonio
AU - Freda, Luigi
AU - Oriolo, Giuseppe
AU - Vendittelli, Marilena
PY - 2007
Y1 - 2007
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?eid=2-s2.0-36348937893&partnerID=MN8TOARS
U2 - 10.1109/ROBOT.2007.363079
DO - 10.1109/ROBOT.2007.363079
M3 - Conference contribution
SN - 1-4244-0601-3
T3 - Proceedings IEEE International Conference on Robotics and Automation
SP - 768
EP - 774
BT - Proceedings 2007 IEEE International Conference on Robotics and Automation
PB - IEEE
CY - Piscataway, NJ
ER -