Cognitive Map Merging For Multi-Robot Navigation

In this paper we investigate a map-building strategy based on geometric and topological information about the environment, acquired through sonar sensors and odometric actuator. To reduce robot individual exploration needs, a framework based on multi-robot map acquisition is proposed, where each robot executes a map building algorithm and performs exploration in the environment. The current global map is built based on the merging of overlapping regions among the previously cognitive maps. A brief description of the on-going research and the results obtained is also provided.

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