Line-of-sight exploration of unknown environment by a pair of mobile Robots

Abstract

This paper introduces a new technique to reduce the time required to explore an unknown environment with a team of two mobile robots. In the proposed technique, the well-known frontier based exploration method is combined with line-of-sight exploration in order to reduce the exploration time. The combined technique has been tested on a set of environments with different shape, size and number of obstacles. The results show that the proposed line-of-sight frontier-based technique always leads to a significant reduction in exploration time.