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Sensors 2012, 12(9), 12772-12797; doi:10.3390/s120912772
Article

A Behavior-Based Strategy for Single and Multi-Robot Autonomous Exploration

1,* , 2
,
1
,
1
,
1
 and
1
1 Center for Robotics and Intelligent Systems, Tecnológico de Monterrey, Monterrey 64849, Mexico 2 Computer Science Department, Universidade Federal de Minas Gerais, Belo Horizonte, 31270-901, Brazil
* Author to whom correspondence should be addressed.
Received: 13 July 2012 / Revised: 6 September 2012 / Accepted: 6 September 2012 / Published: 18 September 2012
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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 multi-robot autonomous navigation and exploration; coordinated behavior; service-oriented robotics
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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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.

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