|The Sensor-based Random Graph Method for Cooperative Robot Exploration
|Year of Publication
|Franchi, A, Freda, L, Oriolo, G, Vendittelli, M
|IEEE/ASME Transaction on Mechatronics
|Coverage, Distributed algorithms, Exploration, Multi-robot systems
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.
Winner of the IEEE RAS ICYA Best Paper Award 2010 link