MAP EXPLORATION USING A LINE-BASED FORMATION OF MOBILE ROBOTS

Bart Wyns, Jens Boeykens, Luc Boullart

2010

Abstract

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 the obstacles within. A software simulator including this line-based formation strategy was built to evaluate performance in different environments. Results show that the robot formation can easily get around both convex and concave obstacles whilst constructing a map that is both complete and correct.

Paper Citation

in Harvard Style

Wyns B., Boeykens J. and Boullart L. (2010). MAP EXPLORATION USING A LINE-BASED FORMATION OF MOBILE ROBOTS . In Proceedings of the 2nd International Conference on Agents and Artificial Intelligence - Volume 2: ICAART, ISBN 978-989-674-022-1, pages 241-244. DOI: 10.5220/0002591002410244

in Bibtex Style

@conference{icaart10,
author={Bart Wyns and Jens Boeykens and Luc Boullart},
title={MAP EXPLORATION USING A LINE-BASED FORMATION OF MOBILE ROBOTS},
booktitle={Proceedings of the 2nd International Conference on Agents and Artificial Intelligence - Volume 2: ICAART,},
year={2010},
pages={241-244},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002591002410244},
isbn={978-989-674-022-1},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 2nd International Conference on Agents and Artificial Intelligence - Volume 2: ICAART,
TI - MAP EXPLORATION USING A LINE-BASED FORMATION OF MOBILE ROBOTS
SN - 978-989-674-022-1
AU - Wyns B.
AU - Boeykens J.
AU - Boullart L.
PY - 2010
SP - 241
EP - 244
DO - 10.5220/0002591002410244