Potential Field Based Integrated Exploration For Multi-Robot Teams

In this paper we present an approach for multi-robot cooperative exploration based on the potential field generated by several basic behaviours. When an unknown environment is explored the uncertainty in the localization normally grows, this fact may cause the failure of the Simultaneous Localization and Mapping (SLAM) algorithm, and thus constructing an useless and inaccurate map. The exploration algorithm described here considers the current knowledge of the environment, the location of the robots and the uncertainty in their positions in order to return to previously explored areas when it is needed. These actions definitely help the SLAM algorithm to build a precise map. Several simulations are presented that demonstrate the validity of the approach.