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Conference Paper

A decentralized strategy for cooperative robot exploration


Franchi,  A
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Franchi, A., Oriolo G, Freda, L., & Vendittelli, M. (2007). A decentralized strategy for cooperative robot exploration. In First International Conference on Robot Communication and Coordination (ROBOCOMM 2007) (pp. 1-8). Brussels, Belgium: ICST.

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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.