TY - GEN
T1 - Multi-robot flooding algorithm for the exploration of unknown indoor environments
AU - Cabrera-Mora, Flavio
AU - Xiao, Jizhong
AU - Brass, Peter
PY - 2010
Y1 - 2010
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=77955826090&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77955826090&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2010.5509522
DO - 10.1109/ROBOT.2010.5509522
M3 - Conference contribution
AN - SCOPUS:77955826090
SN - 9781424450381
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 5478
EP - 5483
BT - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
T2 - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Y2 - 3 May 2010 through 7 May 2010
ER -