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Authors: Nirali Sanghvi 1 ; Rajdeep Niyogi 1 and Alfredo Milani 2

Affiliations: 1 Department of Computer Science and Engineering, Indian Institute of Technology, Roorkee, India ; 2 Department of Computer Science and Mathematics, University of Perugia, Italy

Keyword(s): Exploration, Unknown Environment, Multi-Robot System, Coverage.

Abstract: In this paper, a sweeping algorithm is proposed with the goal of achieving maximal coverage while minimizing the overlapping areas, in an unknown environment. Two scenarios are considered: one in which the robots do not communicate with one another, and another in which the robots are allowed to communicate with one another. The simulations are performed on Webots, a multi-robot simulator, varying various parameters like environment size, obstacles, and number of robots and their positions. The coverage obtained with the proposed approach is 89-98%. When the robots are allowed to communicate, there is a reduction in exploration time that ranges from a minimum of 33% to a maximum of 68%.

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Paper citation in several formats:
Sanghvi, N.; Niyogi, R. and Milani, A. (2024). Sweeping-Based Multi-Robot Exploration in an Unknown Environment Using Webots. In Proceedings of the 16th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART; ISBN 978-989-758-680-4; ISSN 2184-433X, SciTePress, pages 248-255. DOI: 10.5220/0012343400003636

@conference{icaart24,
author={Nirali Sanghvi. and Rajdeep Niyogi. and Alfredo Milani.},
title={Sweeping-Based Multi-Robot Exploration in an Unknown Environment Using Webots},
booktitle={Proceedings of the 16th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART},
year={2024},
pages={248-255},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012343400003636},
isbn={978-989-758-680-4},
issn={2184-433X},
}

TY - CONF

JO - Proceedings of the 16th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART
TI - Sweeping-Based Multi-Robot Exploration in an Unknown Environment Using Webots
SN - 978-989-758-680-4
IS - 2184-433X
AU - Sanghvi, N.
AU - Niyogi, R.
AU - Milani, A.
PY - 2024
SP - 248
EP - 255
DO - 10.5220/0012343400003636
PB - SciTePress

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