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Schlagwörter:
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Zusammenfassung:
We present a decentralized cooperative exploration
strategy for mobile robots. A roadmap of the explored area, with
the associate safe region, is built in the form of a compact data
structure, called Sensor-based Random Graph. This is incrementally
expanded by the robots by using a randomized local planner
which automatically realizes a trade-off between information gain
and navigation cost. Connecting structures, called bridges, are
incrementally added to the graph to create shortcuts and improve
the connectivity of the roadmap. Decentralized cooperation and
coordination mechanisms are used so as to guarantee exploration
efficiency and avoid conflicts. Simulations are presented to show
the performance of the proposed technique.
