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要旨:
In this paper we present implementation and experiments of a decentralized
cooperative exploration strategy developed by our research group. The exploration
strategy is based on the construction of a roadmap of the explored area,
with the associate safe region. No task decomposition/allocation is performed. The
roadmap is incrementally built through a simple and efficient decentralized cooperation
mechanism: each robot biases its exploration towards its local frontier, i.e.,
local areas which appear to be unexplored by the whole robot team on the basis of
the exchanged information. A detailed description of the software architecture used
to implement the strategy is given. Experiments with a team of Khepera III robots
are presented to show the performance of the proposed technique.
