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Sensors 2012, 12(9), 12772-12797; doi:10.3390/s120912772

A Behavior-Based Strategy for Single and Multi-Robot Autonomous Exploration

1
Center for Robotics and Intelligent Systems, Tecnológico de Monterrey, Monterrey 64849, Mexico
2
Computer Science Department, Universidade Federal de Minas Gerais, Belo Horizonte, 31270-901, Brazil
*
Author to whom correspondence should be addressed.
Received: 13 July 2012 / Revised: 6 September 2012 / Accepted: 6 September 2012 / Published: 18 September 2012
(This article belongs to the Special Issue New Trends towards Automatic Vehicle Control and Perception Systems)
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Abstract

In this paper, we consider the problem of autonomous exploration of unknown environments with single and multiple robots. This is a challenging task, with several potential applications. We propose a simple yet effective approach that combines a behavior-based navigation with an efficient data structure to store previously visited regions. This allows robots to safely navigate, disperse and efficiently explore the environment. A series of experiments performed using a realistic robotic simulator and a real testbed scenario demonstrate that our technique effectively distributes the robots over the environment and allows them to quickly accomplish their mission in large open spaces, narrow cluttered environments, dead-end corridors, as well as rooms with minimum exits. View Full-Text
Keywords: multi-robot autonomous navigation and exploration; coordinated behavior; service-oriented robotics multi-robot autonomous navigation and exploration; coordinated behavior; service-oriented robotics
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This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

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MDPI and ACS Style

Cepeda, J.S.; Chaimowicz, L.; Soto, R.; Gordillo, J.L.; Alanís-Reyes, E.A.; Carrillo-Arce, L.C. A Behavior-Based Strategy for Single and Multi-Robot Autonomous Exploration. Sensors 2012, 12, 12772-12797.

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