Topological exploration of unknown and partially known environments

  title={Topological exploration of unknown and partially known environments},
  author={Soonkyum Kim and Subhrajit Bhattacharya and Robert Ghrist and Vijay Kumar},
  journal={2013 IEEE/RSJ International Conference on Intelligent Robots and Systems},
We present the mathematical framework and algorithms for multi-robot topological exploration of unknown environments in which the main goal is to identify the different topological classes of trajectories and thus efficiently distribute the task of exploration among different groups of robots. We consider two-dimensional configuration spaces. At any point in time, the robots' map consists of known, partially-mapped obstacles. The unknown, yet-to-be-explored area is mapped to a single point… CONTINUE READING
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