@article {2009b-FraFreOriVen,
	title = {The Sensor-based Random Graph Method for Cooperative Robot Exploration},
	journal = {IEEE/ASME Transaction on Mechatronics},
	volume = {14},
	number = {2},
	year = {2009},
	note = {Winner of the IEEE RAS ICYA Best Paper Award 2010 <a href="http://homepages.laas.fr/afranchi//robotics/?q=node/64">link</a></p>},
	month = {04/2009},
	pages = {163-175},
	abstract = {We present a decentralized cooperative exploration strategy for a team of mobile robots equipped with range finders. A roadmap of the explored area, with the associate safe region, is built in the form of a Sensor-based Random Graph (SRG). This is expanded by the robots by using a randomized local planner which automatically realizes a trade-off between information gain and navigation cost. The nodes of the SRG represent view configurations that have been visited by at least one robot, and are connected by arcs that represent safe paths. These paths have been actually traveled by the robots or added to the SRG to improve its connectivity. Decentralized cooperation and coordination mechanisms are used so as to guarantee exploration efficiency and avoid conflicts. Simulations and experiments are presented to show the performance of the proposed technique.},
	keywords = {Coverage, Distributed algorithms, Exploration, Multi-robot systems},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2009b-FraFreOriVen.pdf},
	author = {Antonio Franchi and Luigi Freda and Giuseppe Oriolo and Marilena Vendittelli}
}
@conference {2008a-FraFreMarOriVen,
	title = {Decentralized cooperative exploration: Implementation and experiments},
	booktitle = {10th Int. Conf. on Intelligent Autonomous Systems},
	year = {2008},
	month = {07/2008},
	pages = {348-355},
	address = {Baden-Baden, Germany},
	keywords = {Coverage, Distributed algorithms, Multi-robot systems},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2008a-FraFreMarOriVen.pdf},
	author = {Antonio Franchi and Luigi Freda and Luca Marchionni and Giuseppe Oriolo and Marilena Vendittelli}
}
@conference {2007b-FraFreOriVen,
	title = {A decentralized strategy for cooperative robot exploration},
	booktitle = {ACM International Conference Proceeding Series, Proceedings of the 1st international conference on Robot communication and coordination},
	volume = {318},
	number = {7},
	year = {2007},
	month = {11/2007},
	address = {Athens, Greece},
	keywords = {Coverage, Distributed algorithms, Multi-robot systems},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2007b-FraFreOriVen.pdf},
	author = {Antonio Franchi and Luigi Freda and Giuseppe Oriolo and Marilena Vendittelli}
}
@conference {2007a-FraFreOriVen,
	title = {A Randomized Strategy for Cooperative Robot Exploration},
	booktitle = {2007 IEEE Int. Conf. on Robotics and Automation},
	year = {2007},
	month = {04/2007},
	pages = {768-774},
	address = {Rome, Italy},
	keywords = {Coverage, Decentralized control, Distributed algorithms, Multi-robot systems},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2007a-FraFreOriVen.pdf},
	author = {Antonio Franchi and Luigi Freda and Giuseppe Oriolo and Marilena Vendittelli}
}
