Multi-Robot Exploration of an Unknown Environment,
Efficiently Reducing the Odometry Error


Abstract

This paper deals with the intelligent exploration of an unknown environment
by autonomous robots. In particular, we present an algorithm and associated
analysis for collaborative exploration using two mobile robots. Our approach
is based on robots with range sensors limited by distance. By appropriate
behavioural strategies, we show that odometry (motion) errors that would
normally present problems for mapping can be severely reduced. Our analysis
includes polynomial complexity bounds and a discussion of possible heuristics.