Graph Search-Based Exploration Method Using a Frontier-Graph Structure for Mobile Robots

Graph-Based Exploration using Multiple Robots

We present an approach to multi-robot exploration of large environments. Our method is designed to be robust in the face of arbitrarily large odometry errors or objects with poor re ectance characteristics. The algorithm achieves its robustness by using a team of cooperating agents. The critical aspect of our method is the use of a vision system that sweeps areas of free space and generates a g...

Graph - Based Exploration using

Frontier - Based Exploration Using Multiple Robots Brian

Frontier-based exploration directs mobile robots to regions on the boundary between unexplored space and space that is known to be open. Previously, we have demonstrated that frontier-based exploration can be used to map indoor environments where walls and obstacles may be in arbitrary orientations. In this paper, we show how frontier-based exploration can be extended to multiple robots. In our...

Anonymous graph exploration without collision by mobile robots

Considering autonomous mobile robots moving on a finite anonymous graph, this paper focuses on the Constrained Perpetual Graph Exploration problem (CPGE). That problem requires each robot to perpetually visit all the vertices of the graph, in such a way that no vertex hosts more than one robot at a time, and each edge is traversed by at most one robot at a time. The paper states an upper bound ...

Piecemeal Graph Exploration by a Mobile Robot

We study how a mobile robot can learn an unknown environment in a piecemeal manner The robot s goal is to learn a complete map of its environment while satisfying the constraint that it must return every so often to its starting position for refueling say The environment is modeled as an arbitrary undirected graph which is initially unknown to the robot We assume that the robot can distinguish ...