Alberto Quattrini Li

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In multirobot exploration under centralized control, communication plays an important role in constraining the team exploration strategy. Recurrent connectivity is a way to define communication constraints for which robots must connect to a base station only when making new observations. This paper studies effective multirobot exploration strategies under(More)
Robotic exploration is an on-line problem in which autonomous mobile robots incrementally discover and map the physical structure of initially unknown environments. Usually, the performance of exploration strategies used to decide where to go next is not compared against the optimal performance obtainable in the test environments, because the latter is(More)
Simulations could make testing of mobile robot systems less strenuous in terms of time spent for setting scenarios and performing experiments. The USARSim simulator used in the Virtual Robot Competition has shown a good degree of realism in modeling the laws of physics that influence the behavior of robot sensors and actuators. However, the environments in(More)
Exploration of unknown environments is relevant for many robotics applications, like map building and coverage. Several works in the literature have proposed exploration strategies that drive a mobile robot to greedily choose where to go next in order to incrementally map an initially unknown environment. In this paper, we theoretically study the worst and(More)
Autonomous robotic exploration of initially unknown environments is at the basis of several applications, including map building and search and rescue. Despite the many recent works on robotic exploration, an issue that has not been adequately addressed in the literature so far is the evaluation of the impact of the perception (for map update) and decision(More)