Output details
13 - Electrical and Electronic Engineering, Metallurgy and Materials
Sheffield Hallam University
Dynamic graph-based search in unknown environments
This paper provides the mathematical and computational underpinning for a new approach to exploring and mapping unknown environments. These are extensions of ideas initially developed within the EU-funded project GUARDIANS, successfully completed in 2010, in which Alboul led the Work Package on Map Building. The proposed methodology fully encompasses the multi-robot team work paradigm in which robots move in a specific order and a (sub)-optimal manner to cooperatively map the environment. As well as providing a new method and a formal, sound solution for multi- robot mapping, this paper provides novel insights into the Travelling Salesman problem, the famous NP-complete problem in the Graph Theory.