Abstract
Exploration is a core challenge for RoboCup Rescue. So-called communicative exploration is a novel strategy for multi-robot exploration that unlike other approaches takes the limits of wireless communication systems into account. Here, previous results that where achieved for a team of robots linked to a basestation are significantly extended to also cover robot packs, i.e., multi-robot teams that are not permanently tied to an operator’s station. Unlike teams that are constrained by the immobility of a basestation, packs can explore arbitrarily large regions. Results from experiments with packs of 4, 5 and 6 robots are presented. The new strategy constantly maintains the communication between the robots while exploring, whereas the commonly used frontier-based exploration strategy, which is used in the experiments as comparison to our approach, leads to a rapid loss of communication.
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Rooker, M.N., Birk, A. (2006). Communicative Exploration with Robot Packs. In: Bredenfeld, A., Jacoff, A., Noda, I., Takahashi, Y. (eds) RoboCup 2005: Robot Soccer World Cup IX. RoboCup 2005. Lecture Notes in Computer Science(), vol 4020. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11780519_24
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DOI: https://doi.org/10.1007/11780519_24
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