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

Rekleitis, Ioannis M.; Dudek, Gregory; Milios, Evangelos E.

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

Ioannis M. Rekleitis, Gregory Dudek, Evangelos E. Milios

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Proceedings of the Fifteenth International Joint Conference on Artificial Intelligence. Robotics. Pages 1340-1344.

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.

Ioannis M. Rekleitis, Gregory Dudek, and Evangelos E. Milios. 1997. Multi-Robot Exploration of an Unknown Environment, Efficiently Reducing the Odometry Error. In Proceedings of the Fifteenth International Joint Conference on Artificial Intelligence, IJCAI-97. IJCAI, 1340–1344. https://ijcai.org/proceedings/1997/193

@inproceedings{ijcai1997p193,
  title     = {Multi-Robot Exploration of an Unknown Environment, Efficiently Reducing the Odometry Error},
  author    = {Rekleitis, Ioannis M. and Dudek, Gregory and Milios, Evangelos E.},
  booktitle = {Proceedings of the Fifteenth International Joint Conference on
               Artificial Intelligence, {IJCAI-97}},
  publisher = {International Joint Conferences on Artificial Intelligence},
  editor    = {Martha E. Pollack},
  pages     = {1340--1344},
  year      = {1997},
  note      = {Robotics},
  url       = {https://ijcai.org/proceedings/1997/193},
}

TY  - CPAPER
TI  - Multi-Robot Exploration of an Unknown Environment, Efficiently Reducing the Odometry Error
AU  - Rekleitis, Ioannis M.
AU  - Dudek, Gregory
AU  - Milios, Evangelos E.
T2  - Proceedings of the Fifteenth International Joint Conference on Artificial Intelligence, IJCAI-97
PB  - International Joint Conferences on Artificial Intelligence
PY  - 1997
SP  - 1340
EP  - 1344
UR  - https://ijcai.org/proceedings/1997/193
ER  -