The DOI matches its Crossref record; 8 of the 8 references it cites were found in a registry or an index.
Frontier-based exploration using multiple robots
Open accessAbstract
Frontier-based exploration directs mobile robots to regions on the boundary between unexplored space and space that is known to be open.Previously, we have demonstrated that frontier-based exploration can be used to map indoor environments where walls and obstacles may be in arbitrary orientations.In this paper, we show how frontier-based exploration can be extended to multiple robots.In our approach, robots share perceptual information, but maintain separate global maps, and make independent decisions about where to explore.This approach enables robots to make use of information from other robots to explore more effectively, but it also allows the team to be robust to the loss of individual robots.We have implemented our multirobot exploration system on real robots, and we demonstrate that they can explore and map office environments as a team.1.
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Cites
High resolution maps from wide angle sonar
Moravec, H., & Elfes, A. (2005) · Proceedings. 1985 IEEE International Conference on Robotics and Automation · doi:10.1109/robot.1985.1087316 · Cited by 1,772
A frontier-based approach for autonomous exploration
Yamauchi, B. (2002) · Proceedings 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation CIRA'97. 'Towards New Computational Principles for Robotics and Automation' · doi:10.1109/cira.1997.613851 · Cited by 1,695
Self-citationSensor Fusion in Certainty Grids for Mobile Robots
Moravec, H. P. (1989) · Sensor Devices and Systems for Robotics · doi:10.1007/978-3-642-74567-6_19 · Cited by 964
A robot exploration and mapping strategy based on a semantic hierarchy of spatial representations
Kuipers, B., & Byun, Y.-T. (1991) · Robotics and Autonomous Systems · doi:10.1016/0921-8890(91)90014-c · Cited by 707
Integration of representation into goal-driven behavior-based robots
Mataric, M. J. (1992) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.143349 · Cited by 575
A robot exploration and mapping strategy based on a semantic hierarchy of spatial representations
Kuipers, B. J., & Byun, Y.-T. (1993) · Cited by 327
Integrating grid-based and topological maps for mobile robot navigation
Thrun, S., & Bü, A. (1996) · Cited by 314
Continuous localization using evidence grids
Schultz, A. C., & Adams, W. (2002) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.1998.680595 · Cited by 122
Cited by
A Formal Analysis and Taxonomy of Task Allocation in Multi-Robot Systems
Gerkey, B. P., & Matarić, M. J. (2004) · The International Journal of Robotics Research · doi:10.1177/0278364904045564 · Cited by 1,753
Coordinated multi-robot exploration
Burgard, W., Moors, M., Stachniss, C., & Schneider, F. E. (2005) · IEEE Transactions on Robotics · doi:10.1109/tro.2004.839232 · Cited by 1,177
Information Gain-based Exploration Using Rao-Blackwellized Particle Filters
Stachniss, C., Grisetti, G., & Burgard, W. (2005) · Robotics: Science and Systems I · doi:10.15607/rss.2005.i.009 · Cited by 542
Multi-robot exploration controlled by a market economy
Zlot, R., Stentz, A., Dias, M. B., & Thayer, S. (2003) · Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292) · doi:10.1109/robot.2002.1013690 · Cited by 489
Distributed Multirobot Exploration and Mapping
Fox, D., Ko, J., Konolige, K., Limketkai, B., Schulz, D., & Stewart, B. (2006) · Proceedings of the IEEE · doi:10.1109/jproc.2006.876927 · Cited by 344
Metadata
- Authors
- Yamauchi, B.
- Venue
- Proceedings of the second international conference on Autonomous agents - AGENTS '98
- Publisher
- ACM Press
- Published
- 1998
- Pages
- 47-53
- OpenAlex
- W1966213627
- Cited by
- 717
- References
- 8
- FWCI
- 4.90
- Type
- conference paper
- Language
- en
- Open access
- gold
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
