Line-of-sight Exploration of Unknown Environment by a pair of mobile Robots

Mohammad Al Khawaldah; Salvatore Livatino

doi:10.1109/icaset.2018.8376843

Line-of-sight Exploration of Unknown Environment by a pair of mobile Robots

Mohammad Al Khawaldah, Salvatore Livatino

Research output: Contribution to conference › Paper › peer-review

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.

Original language	English
DOIs	https://doi.org/10.1109/icaset.2018.8376843
Publication status	Published - 11 Jun 2018
Event	IEEE Advances in Science and Engineering Technology International Conferences (ASET) - Dubai, Dubai, United Arab Emirates Duration: 21 Mar 2018 → 23 Mar 2018 https://ieeexplore.ieee.org/xpl/conhome/8370364/proceeding

Conference

Conference	IEEE Advances in Science and Engineering Technology International Conferences (ASET)
Country/Territory	United Arab Emirates
City	Dubai
Period	21/03/18 → 23/03/18
Internet address	https://ieeexplore.ieee.org/xpl/conhome/8370364/proceeding

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10.1109/icaset.2018.8376843Licence: Other

Cite this

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title = "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.",

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AU - Livatino, Salvatore

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N2 - 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.

AB - 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.

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Line-of-sight Exploration of Unknown Environment by a pair of mobile Robots

Abstract

Conference

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