Distributed Multirobot Exploration and Mapping

  title={Distributed Multirobot Exploration and Mapping},
  author={Dieter Fox and Jonathan Ko and Kurt Konolige and Benson Limketkai and Dirk Schulz and Benjamin J Stewart},
  journal={Proceedings of the IEEE},
Efficient exploration of unknown environments is a fundamental problem in mobile robotics. We present an approach to distributed multirobot mapping and exploration. Our system enables teams of robots to efficiently explore environments from different, unknown locations. In order to ensure consistency when combining their data into shared maps, the robots actively seek to verify their relative locations. Using shared maps, they coordinate their exploration strategies to maximize the efficiency… CONTINUE READING
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