It can be Beneficial to be "Lazy" when Exploring Graph-Like Worlds with Multiple Robots

H. Wang, M. Jenkin, and P. Dymond (Canada)

Keywords

Multiple robots, Graphlike worlds, SLAM, Lazy exploration, partial map merging, intelligent computation.

Abstract

This paper describes a technique that allows mobile robots to explore an unknown graph-like environment and construct a topological map of it. The robots explore in a “lazy” fashion in which identified “hard” tasks are put off to later steps taking advantage of the fact that certain tasks often become easier as more of the world is known. Experimental validation shows that multiple robots exploring in a lazy fashion can produce a reduction in exploration effort over multiple robots exploring without prioritizing tasks based on expected effort.

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