| Issue |
MATEC Web of Conferences
Volume 42, 2016
2015 The 3rd International Conference on Control, Mechatronics and Automation (ICCMA 2015)
|
|
|---|---|---|
| Article Number | 03010 | |
| Number of page(s) | 5 | |
| Section | Robot design and development | |
| DOI | https://doi.org/10.1051/matecconf/20164203010 | |
| Published online | 17 February 2016 | |
Evaluation of different frontier-based multi-robot exploration strategies
1 LRPE Laboratory, USTHB University, B.P 32 El Alia 16111 Bab Ezzouar Algiers, Algeria
2 Versailles Engineering Systems Laboratory (LISV), 10/12 Avenue de l’Europe 78140 Velizy, France
a Abdenour Benkrid: abenkrid@usthb.dz
In this paper, we focus on the problem of exploring an unknown environment by a team of mobile robots. The main objective is to compare four different coordination strategies based on frontier concept (boundaries between unexplored and explored open areas) and analyze their performance in term of assignment quality, overall exploration time and computational complexity. In order to provide a suitable qualitative study we used three optimization criteria. Each strategy has been implemented and tested extensively in computerized simulation.
© Owned by the authors, published by EDP Sciences, 2016
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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