Map Exploration using a Line-based Formation of Mobile Robots

Exploration of an unknown environment is a well-studied problem for single robot systems. However, using just a single robot limits the speed in which a map can be fully explored. Using a multi-robot approach, a noticeable performance gain can be achieved. In this article a line-based formation strategy to explore a static area is introduced, without making any assumptions about the shape of the obstacles within. A software simulator including this line-based formation strategy was built to evaluate performance in different environments. Results show that the robot formation can easily get around both convex and concave obstacles whilst constructing a map that is both complete and correct.