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Conference Paper

A randomized strategy for cooperative robot exploration

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http://pubman.mpdl.mpg.de/cone/persons/resource/persons83915

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

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Citation

Franchi, A., Freda L, Oriolo, G., & Vendittelli, M. (2007). A randomized strategy for cooperative robot exploration. In 2007 IEEE International Conference on Robotics and Automation (ICRA 2007) (pp. 768-774). Piscataway, NJ, USA: IEEE Service Center.


Cite as: http://hdl.handle.net/11858/00-001M-0000-0013-CE11-B
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.