Robust and Resource-Efficient Cooperative Exploration and Mapping Using Homogeneous Autonomous Robot Teams

摘要

To create a map of an unknown area, autonomous robots must follow a strategy to explore the area without knowing the optimal paths to reduce the time needed to map the whole area. To reduce the time to accomplish this task, multiple robots can work together to create a map in a more efficient way. However, without proper coordination, the time a team of autonomous robots needs to explore the unknown area can exceed the time needed by a single robot. To counteract the challenges, a shared infrastructure is needed which extracts useful information for the individual robots out of the shared information of all robots so the exploration can be coordinated. These measures introduce new challenges to the system, concerning the load of the communication infrastructure as well as the overall task of exploring and mapping becoming dependent on the correct communication and robustness of the shared team infrastructure. Therefore, the amount of communication and dependency of each individual robot of the rest of the other robots of the team must be reduced to ensure that the robots can continue working even if the communication with the shared infrastructure fails.