Multi-Robot Exploration of an Unknown Environment, Efficiently Reducing the Odometry Error

Ioannis Rekleitis, Gregory Dudek, Evangelos Milios
In International Joint Conference in Artificial Intelligence (IJCAI) 1997. [215 citations]

Abstract

Abstract: This paper deals with the intelligent exploration of an unknown environment by autonomous robots. In particular, we present an algorithm and associated analysis for collaborative exploration using two mobile robots. Our approach is based on robots with range sensors limited by distance. By appropriate behavioural strategies, we show that odometry (motion) errors that would normally present problems for mapping can be severely reduced. Our analysis includes polynomial complexity bounds and a discussion of possible heuristics.

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BibTeX

@inproceedings{Rekleitis97b,
  author       = {Ioannis Rekleitis and Gregory Dudek and Evangelos Milios},
  title        = {Multi-Robot Exploration of an Unknown Environment,
		 Efficiently Reducing the Odometry Error},
  booktitle    = {International Joint Conference in Artificial Intelligence
		 (IJCAI)},
  volume       = {2},
  year	       = {1997},
  publisher    = {Morgan Kaufmann Publishers, Inc.},
  address      = {Nagoya, Japan},
  month        = {Aug.},
  pages        = {1340-1345}
}

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