Decentralized Strategy for Cooperative Multi-Robot Exploration and Mapping

A decentralized strategy for cooperative robot exploration

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. Co...

Coordination for Multi-Robot Exploration and Mapping

This paper addresses the problem of exploration and mapping of an unknown environment by multiple robots. The mapping algorithm is an on-line approach to likelihood maximization that uses hill climbing to find maps that are maximally consistent with sensor data and odometry. The exploration algorithm explicitly coordinates the robots. It tries to maximize overall utility by minimizing the poten...

Multi-robot Cooperative Pathfinding: A Decentralized Approach

When robots perform teamwork in a shared workspace, they might be confronted with the risk of blocking each other’s ways, which will result in conflicts or interference among the robots. How to plan collision-free paths for all the robots is the major challenge issue in the multi-robot cooperative pathfinding problem, in which each robot has to navigate from its starting location to the destina...

Statistical Methods for Cooperative Multi-robot Mapping

A Multi-robot, Cooperative, and Active Slam Algorithm for Exploration

The paper proposes a cooperative and active SLAM (simultaneous localization and mapping) algorithm for exploration of unknown environment by using multiple robots. In the exploration process, it is desired that the task can be accomplished efficiently and with high quality. The paper formulates the exploration problem as an efficiency optimization problem that is subject to localization quality...