The paper proposes a cooperative and active SLAM (simultaneous localization and mapping) algorithm for exploration of unknown environment by using multiple robots. In the exploration process, it is desired that the task can be accomplished efficiently and with high quality. The paper formulates the exploration problem as an efficiency optimization problem that is subject to localization quality constraints. The proposed approach allows the dispersion of multiple robots in the cooperative and active sense with a guaranteed level of localization and mapping accuracy. The paper further investigates the use of adaptive strategy for balancing the need of exploration and localization. A rendezvous technique is provided to deal with the problem of limited communication. Simulation results demonstrate that the proposed approach outperforms existing methods.
|頁（從 - 到）||2567-2583|
|期刊||International Journal of Innovative Computing, Information and Control|
|出版狀態||Published - 2013 七月 17|
All Science Journal Classification (ASJC) codes
- Theoretical Computer Science
- Information Systems
- Computational Theory and Mathematics