Abstract: In this paper, we consider the problem of autonomous exploration of unknown environments with single and multiple robots. This is a challenging task, with several potential applications. We propose a simple yet effective approach that combines a behavior-based navigation with an efficient data structure to store previously visited regions. This allows robots to safely navigate, disperse and efficiently explore the environment. A series of experiments performed using a realistic robotic simulator and a real testbed scenario demonstrate that our technique effectively distributes the robots over the environment and allows them to quickly accomplish their mission in large open spaces, narrow cluttered environments, dead-end corridors, as well as rooms with minimum exits.
Keywords: multi-robot autonomous navigation and exploration; coordinated behavior; service-oriented robotics
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Cepeda, J.S.; Chaimowicz, L.; Soto, R.; Gordillo, J.L.; Alanís-Reyes, E.A.; Carrillo-Arce, L.C. A Behavior-Based Strategy for Single and Multi-Robot Autonomous Exploration. Sensors 2012, 12, 12772-12797.
Cepeda JS, Chaimowicz L, Soto R, Gordillo JL, Alanís-Reyes EA, Carrillo-Arce LC. A Behavior-Based Strategy for Single and Multi-Robot Autonomous Exploration. Sensors. 2012; 12(9):12772-12797.
Cepeda, Jesús S.; Chaimowicz, Luiz; Soto, Rogelio; Gordillo, José L.; Alanís-Reyes, Edén A.; Carrillo-Arce, Luis C. 2012. "A Behavior-Based Strategy for Single and Multi-Robot Autonomous Exploration." Sensors 12, no. 9: 12772-12797.