Local Map-based Exploration Strategy for Mobile Robots

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 th...

Bayesian Exploration for Mobile Robots

This work addresses the problem of robot exploration. That is, the task of automatically learning a map of the environment which is useful for mobile robot navigation and localization. The exploration mechanism is intended to be applicable to an arbitrary environment, and is independent of the particular representation of the world. We take an information-theoretic approach and avoid the use of...

Exploration Strategies for Mobile Robots

The problem of programming a robot t o carry out a sys temat ic exploration of i ts environment using realistic sensors i s considered in this paper. The robot i s modelled as a single point moving in a twodimensional configuration space populaied wi th visually opaque and transparent obstacles. The robot is equipped with proximity sensors , a vision-based recogni t ion sys tem, and a method of...

Map - based navigation in mobile robots

Map - based navigation in mobile robots . II

This article reviews map-learning and path-planning strategies within the context of mapbased navigation in mobile robots. Concerning map-learning, it distinguishes metric maps from topological maps and describes procedures that help maintain the coherency of these maps. Concerning path-planning, it distinguishes continuous from discretized spaces and describes procedures applicable when the ex...