A two phase recursive tree propagation based multi-robotic exploration framework with fixed base station constraint

@article{Mukhija2010ATP,
  title={A two phase recursive tree propagation based multi-robotic exploration framework with fixed base station constraint},
  author={Piyoosh Mukhija and K. Madhava Krishna and Vamshi Krishna},
  journal={2010 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2010},
  pages={4806-4811}
}
A multi-robotic exploration with the requirement of communication link to a fixed base station is presented in this paper. The robots organize themselves into roles of maintainers of communication (hinged robots or robot nodes) or explorers of the environment ensuring that every robot is in contact with the base station directly or through the hinged robots. A two phased strategy for the same is presented. The first phase is characterized by a recursive growth of trees that starts from the root… CONTINUE READING
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