Exploration Algorithms by Multiple Robots in Challenged Communication Environment
Yuta Nakazono, Hiroyoshi Miwa · 2010
Information collecting and sharing technologies in disaster areas is important, especially, collecting and sharing information of the damaged location and injured people in a building is important for prompt rescue operation. For that purpose, a method to build up a map of an unknown environment without a priori knowledge is necessary. However, as a map must be explored by multiple autonomous robots under the poor wireless communication environment such as inside a damaged building, it is not easy to design an efficient exploration algorithm. In this paper, we propose exploration algorithms by multiple robots based on the store-carry-forward scheme which is one of information sharing methods for the challenged communication environment. The numerical experiments show that the proposed algorithms efficiently explore a map.