Reducing odometry error through cooperating robots during the exploration of an unknown world

We consider how to cover and map an initially unknown environment using two (or more) mobile robots. Most mobile robot systems accrue odometry error while moving, and hence need to use external sensors to recalibrate their position on an ongoing basis. Unfortunately, most sensing systems are constrained with respect to the types of environment in which they are suitable. We deal with position calibration and odometry error by using multiple robots for exploration. This allows them to use one another as landmarks. We consider how exploration can be efficiently accomplished and how a large environment can be divided and conquered.