Leveraging Area Bounds Information for Autonomous Multirobot Exploration

  title={Leveraging Area Bounds Information for Autonomous Multirobot Exploration},
  author={Tsung-Ming Liu and Damian M. Lyons},
In this paper, we propose an approach, the Space-Based Potential Field (SBPF) approach, to control multiple robots for area exploration missions that focus on robot dispersion. The SBPF method is based on a potential field approach that leverages knowledge of the overall bounds of the area to be explored. This additional information allows a simpler potential field control strategy for all robots but which nonetheless has good dispersion and overlap performance in all the multirobot scenarios… Expand
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