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Conference Papers Year : 2015

Multi-robot taboo-list exploration of unknown structured environments

Abstract

This paper presents a new taboo-list approach for multi-robot exploration of unknown structured environments, in which agents are implicitly guided in their navigation on a globally shared map. Agents have a local view of their environment, inside which they navigate in a asynchronous manner. When the exploration is complete, agents gather at a rendezvous point. The novelty consists in using a distributed exploration algorithm which is not guided by frontiers to perform this task. Using the Brick&Mortar Improved ant-algorithm as a base, we add robot-perspective vision, variable vision range, and an optimization which prevents agents from going to the rendezvous point before exploration is complete. The algorithm was evaluated in simulation on a set of standard maps.
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Dates and versions

hal-01196008 , version 1 (08-09-2015)

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  • HAL Id : hal-01196008 , version 1

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Mihai Andries, François Charpillet. Multi-robot taboo-list exploration of unknown structured environments. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Sep 2015, Hamburg, Germany. ⟨hal-01196008⟩
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