Arena Exploration with an Ad Hoc Nework of Mobile Robots
Malladi Srikanth · OhioLink ETD Center (Ohio Library and Information Network) · 2002
Robots are being used widely and will continue to be used, in a number of situations where it might be safer, cheaper, faster and more accurate than human effort.The problem of arena exploration and mapping using robots has many practical applications in disaster rescue efforts, space exploration and warfare.Arena exploration could be done using either single or multiple robots.Multiple robot exploration has the advantage that it could be much faster, though the algorithm could be complicated and there could be extra communication overhead.In order to deploy multiple robots for arena exploration, it is necessary to understand the cost-benefit tradeoffs involved.For many applications of multi-robot exploration, we would like to design algorithms that do not require a centralized administrator so that the robots can explore the arena by mutual communication alone.In addition, we would like such algorithms to be fast, motion-efficient and have a low communication overhead.The objective of this thesis is to design such an algorithm and analyze its performance.100, Sensing constant = 25 . . . . . . . .