The Sensor-based Random Graph Method for Cooperative Robot Exploration

TitleThe Sensor-based Random Graph Method for Cooperative Robot Exploration
Publication TypeJournal Article
Year of Publication2009
AuthorsFranchi, A, Freda, L, Oriolo, G, Vendittelli, M
JournalIEEE/ASME Transaction on Mechatronics
Date Published04/2009
KeywordsCoverage, 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

Citation Key2009b-FraFreOriVen
PDF icon preprint-pdf1.15 MB

Taxonomy upgrade extras: