MAP EXPLORATION USING A LINE-BASED FORMATION OF MOBILE ROBOTS
Bart Wyns, Jens Boeykens, Luc Boullart · 2010
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.