Abstract
We present an algorithm to explore an orthogonal polygon using a team of p robots. Our algorithm is based on a single-robot polygon exploration algorithm and a tree exploration algorithm. We show that the exploration time of our algorithm is competitive (as a function of p) with respect to the offine optimal exploration algorithm. In addition to theoretical analysis, we discuss how this strategy can be adapted to real-world settings. We investigate the performance of our algorithm through simulations for multiple robots and experiments with a single robot. We conclude with a discussion of our ongoing work.
This material is based upon work supported by the National Science Foundation under Grant No. 1566247.
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Premkumar, A.P., Yu, K., Tokekar, P. (2020). A Geometric Approach for Multi-Robot Exploration in Orthogonal Polygons. In: Goldberg, K., Abbeel, P., Bekris, K., Miller, L. (eds) Algorithmic Foundations of Robotics XII. Springer Proceedings in Advanced Robotics, vol 13. Springer, Cham. https://doi.org/10.1007/978-3-030-43089-4_57
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