Multi-robot flooding algorithm for the exploration of unknown indoor environments

Flavio Cabrera, Jizhong Xiao, Peter Brass

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

In this paper we study the problem of multi-robot exploration of unknown indoor environments that are modeled as trees. Specifically, our approach consider that robots deploy and communicate with active landmarks in every intersection they encounter. We present a novel algorithm that is guaranteed to completely explore any tree with m edges and diameter D, by allowing k robots to be fed into the tree one at a time. We prove that the exploration time of the algorithm grows in linear proportion with the size of the tree and is not bigger than D+m. Simulation results are presented that corroborate the theoretical analysis.

Original languageEnglish (US)
Title of host publication2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Pages5478-5483
Number of pages6
DOIs
StatePublished - Aug 26 2010
Event2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States
Duration: May 3 2010May 7 2010

Other

Other2010 IEEE International Conference on Robotics and Automation, ICRA 2010
CountryUnited States
CityAnchorage, AK
Period5/3/105/7/10

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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