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Cooperative multi-agent mapping and exploration Webots

Scott, Adele; Yu, Changbin (Brad)

Description

This paper addresses the problem of mapping and exploration of an unknown space by cooperative multi-agent systems. The exploration problem is extended to jointly covering an area n times. Agents are localised and can communicate with other agents. A probability based mapping algorithm is developed. Based upon this, a potential field based exploration algorithm is proposed, with three sample charge profiles that can be used for different mission requirements. Simulation results in Webots...[Show more]

CollectionsANU Research Publications
Date published: 2009
Type: Conference paper
URI: http://hdl.handle.net/1885/51843
Source: Proceedings of International Conference on Autonomous Robots and Agents (ICARA 2009)
DOI: 10.1109/ICARA.2000.4803950

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