engleski

Decentralized Strategy for Cooperative Multi-Robot Exploration and Mapping

This work presents a novel approach to autonomous decentralized multi-robot frontier exploration and mapping of an unknown area. A mobile robot team simultaneously explores the environment, discovers frontier points (points on the border between explored and unexplored space), and shares information in order to become dispersed throughout the environment. The proposed strategy has been implemented in a simulation environment and compared with a state-of-the-art exploration strategy. Simulation results demonstrate the advantages of the proposed decentralized multi- robot strategy.

Mobile Robot ; Multi-Robot System ; Frontier Points ; Target Point ; Decentralized Strategy ; Exploration ; Mapping

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