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  A decentralized strategy for cooperative robot exploration

Franchi, A., Oriolo, G., Freda, L., & Vendittelli, M. (2007). A decentralized strategy for cooperative robot exploration. In First International Conference on Robot Communication and Coordination (ROBOCOMM 2007) (pp. 1-8). Brussels, Belgium: ICST.

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-0013-CB8B-4 Version Permalink: http://hdl.handle.net/21.11116/0000-0003-D194-9
Genre: Conference Paper

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https://dl.acm.org/citation.cfm?id=1377877 (Publisher version)
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 Creators:
Franchi, A1, Author              
Oriolo , G, Author
Freda, L, Author
Vendittelli, M, Author
Affiliations:
1External Organizations, ou_persistent22              

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 Abstract: We present a decentralized cooperative exploration strategy for mobile robots. A roadmap of the explored area, with the associate safe region, is built in the form of a compact data structure, called Sensor-based Random Graph. This is incrementally expanded by the robots by using a randomized local planner which automatically realizes a trade-off between information gain and navigation cost. Connecting structures, called bridges, are incrementally added to the graph to create shortcuts and improve the connectivity of the roadmap. Decentralized cooperation and coordination mechanisms are used so as to guarantee exploration efficiency and avoid conflicts. Simulations are presented to show the performance of the proposed technique.

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 Dates: 2007-10
 Publication Status: Published in print
 Pages: -
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 Table of Contents: -
 Rev. Method: -
 Identifiers: DOI: 10.1145/1377868.1377877
BibTex Citekey: 6399
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Title: First International Conference on Robot Communication and Coordination (ROBOCOMM 2007)
Place of Event: Athens, Greece
Start-/End Date: 2007-10-15 - 2007-10-17

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Title: First International Conference on Robot Communication and Coordination (ROBOCOMM 2007)
Source Genre: Proceedings
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Publ. Info: Brussels, Belgium : ICST
Pages: - Volume / Issue: - Sequence Number: 7 Start / End Page: 1 - 8 Identifier: ISBN: 978-963-9799-08-0