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Frontier based multi robot area exploration using prioritized routing

Publisher : Proceedings - 30th European Conference on Modelling and Simulation, ECMS 2016

Campus : Coimbatore

Center : TIFAC CORE in Cyber Security

Year : 2016

Abstract : The paper deals with multi-robot centralized autonomous area exploration of unknown environment with static obstacles. A simple reasoning algorithm based on preassignment of routing priority is proposed. The algorithm tracks the frontiers and assigns the robots to the frontiers when the robots fall into a trap situation. The algorithm is simulated with various multi-robotic configurations in different environments and compared with performance indices in the MATLAB simulation environment.

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