Multi-robot taboo-list exploration of unknown structured environments

Mihai Andries 1, 2 François Charpillet 1
1 LARSEN - Lifelong Autonomy and interaction skills for Robots in a Sensing ENvironment
Inria Nancy - Grand Est, LORIA - AIS - Department of Complex Systems, Artificial Intelligence & Robotics
Abstract : This paper presents a new taboo-list approach for multi-robot exploration of unknown structured environments, in which agents are implicitly guided in their navigation on a globally shared map. Agents have a local view of their environment, inside which they navigate in a asynchronous manner. When the exploration is complete, agents gather at a rendezvous point. The novelty consists in using a distributed exploration algorithm which is not guided by frontiers to perform this task. Using the Brick&Mortar Improved ant-algorithm as a base, we add robot-perspective vision, variable vision range, and an optimization which prevents agents from going to the rendezvous point before exploration is complete. The algorithm was evaluated in simulation on a set of standard maps.
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Submitted on : Tuesday, September 8, 2015 - 7:05:33 PM
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Mihai Andries, François Charpillet. Multi-robot taboo-list exploration of unknown structured environments. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Sep 2015, Hamburg, Germany. ⟨hal-01196008⟩

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