Real-time adaptive multi-robot exploration with application to underwater map construction

@article{Kapoutsis2016RealtimeAM,
  title={Real-time adaptive multi-robot exploration with application to underwater map construction},
  author={Athanasios Ch. Kapoutsis and Savvas A. Chatzichristofis and Lefteris Doitsidis and Jo{\~a}o Borges de Sousa and Jos{\'e} Pinto and Jos{\'e} Braga and Elias B. Kosmatopoulos},
  journal={Autonomous Robots},
  year={2016},
  volume={40},
  pages={987-1015}
}
This paper deals with the problem of autonomous exploration of unknown areas using teams of Autonomous X Vehicles (AXVs)—with X standing for Aerial, Underwater or Sea-surface—where the AXVs have to autonomously navigate themselves so as to construct an accurate map of the unknown area. Such a problem can be transformed into a dynamic optimization problem which, however, is NP-complete and thus infeasible to be solved. A usual attempt is to relax this problem by employing greedy (optimal one… CONTINUE READING
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