On Multiagent Exploration

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. 1