Sweeping-Based Multi-Robot Exploration in an Unknown Environment Using Webots

Nirali Sanghvi, Rajdeep Niyogi, Alfredo Milani

2024

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%.

Paper Citation

in Harvard Style

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, SciTePress, pages 248-255. DOI: 10.5220/0012343400003636

in Bibtex Style

@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},
}

in EndNote Style

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
AU - Sanghvi N.
AU - Niyogi R.
AU - Milani A.
PY - 2024
SP - 248
EP - 255
DO - 10.5220/0012343400003636
PB - SciTePress