R. Simmons, D. Apfelbaum, W. Burgard, D. Fox, M. Moors, S. Thrun, and H. Younes
Coordination for Multi-Robot
Exploration and Mapping
Seventeenth National Conference on Artificial Intelligence (AAAI), 2000.
Abstract
This paper addresses the problem of exploration and mapping of an
unknown environment by multiple robots. The mapping algorithm is an
on-line approach to likelihood maximization that uses hill climbing to
find maps that are maximally consistent with sensor data and
odometry. The exploration algorithm explicitly coordinates the
robots. It tries to maximize overall utility by minimizing the
potential for overlap in information gain amongst the various
robots. For both the exploration and mapping algorithms, most of the
computations are distributed. The techniques have been tested
extensively in real-world trials and simulations. The results
demonstrate the performance improvements and robustness that accrue
from our multi-robot approach to exploration.
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Bibtex
@INPROCEEDINGS{Sim00Coo,
AUTHOR
= {Simmons, R. and Apfelbaum, D. and Burgard, W. and Fox, D. and Moors, M. and Thrun, S. and Younes, H.},
TITLE
= {Coordination for Multi-Robot Exploration and Mapping},
YEAR
= {2000},
BOOKTITLE = {Proc.~of the National Conference on Artificial Intelligence (AAAI)}
}