Leveraging area bounds information for autonomous decentralized multi-robot exploration

@article{Liu2015LeveragingAB,
  title={Leveraging area bounds information for autonomous decentralized multi-robot exploration},
  author={Tsung-Ming Liu and Damian M. Lyons},
  journal={Robotics Auton. Syst.},
  year={2015},
  volume={74},
  pages={66-78}
}
This paper proposes a simple and uniform, decentralized approach to the problem of dispersing a team of robots to explore an area quickly. The Decentralized Space-Based Potential Field (D-SBPF) algorithm is a potential field approach that leverages knowledge of the overall bounds of the area to be explored. It includes a monotonic coverage factor in the potential field to avoid minima, realistic sensor bounds, and a distributed map exchange protocol.The D-SBPF approach yields a simple potential… Expand
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