On Multiagent Exploration

Abstract

This paper describes a technique for multi-agent exploration of an
unknown environment, that improves the quality of the map by reducing
the inaccuracies that occur over time from dead reckoning errors. We
present an algorithmic solution, simulation results, as well as a cost
analysis and experimental data. The approach is based on using a pair
of robots that observe one another's behaviour, thus greatly reducing
odometry errors. We assume the robots can both directly sense nearby
obstacles and see one another. We have implemented both these
capabilities with actual robots in our lab.  By exploiting the ability
of the robots to see one another, we can detect opaque obstacles in
the environment independent of their surface reflectance properties.