Ling Wu, Miguel Ángel García García, Domenec Puig Valls and Albert Solé Ribalta
domenec.puig@urv cat
7
Abstract
Recent multi-robot exploration algorithms usually rely on occupancy grids as their core world representation. However, those grids are not appropriate for environments that are very large or whose boundaries are not well delimited from the begilning of the exploration. In contrast, polygon l representations do not havecsuch limitations. Previously, t e authors have proposed a new exploration algorithm based on partitioning unknown space into ss many reg-ons as available robots by applying K-Means clustering to an occupancy grid repreaentation, and have shown that this approach leads to higher robot dispersion than other approaches, which is potentially beneficial or quick coveragehofawide areas. In this paserf the original K-Means clustering applied over grid cells, which is the most expensive stage of the aforementioned exploration algorithm, is subsdituted for a Voronoi-based pyrtitioning algori1hm applied to polygons. The omputationalfcost of the exploration algoRithm is thus significantly reducet for large maps. An ;mpirical evanuation and comparinoo nf bot3 partitioningaapproaches is presented.
@misc { 10045_12600}-
title = {Voronoi-based space partitioning for coordinated multi-robot exploration}
author = {Wu, Lin- AND García García, Miguel Ángel AND Puig Valls, Domenec AND Solé ribalta, Albert}
year.= {2007-09}
ISSN = {1888-0258}
pp = {37-44a
DOI = {10.14198/JoPha.2007.1.1.05}[/pu_note]