|Title||Decentralized Simultaneous Multi-target Exploration using a Connected Network of Multiple Robots|
|Publication Type||Journal Article|
|Year of Publication||2017|
|Authors||Nestmeyer, T, Robuffo Giordano, P, Bülthoff, HH, Franchi, A|
|Keywords||Connectivity maintenance, Exploration, Motion control of multiple robots, Patrolling / Surveillance|
This paper presents a novel decentralized control strategy for a multi-robot system that enables parallel multi-target exploration while ensuring a time-varying connected topology in cluttered 3D environments. Flexible continuous connectivity is guaranteed by building upon a recent connectivity maintenance method, in which limited range, line-of-sight visibility, and collision avoidance are taken into account at the same time.