%0 Journal Article
%T A Behavior-Based Strategy for Single and Multi-Robot Autonomous Exploration
%A Jes¨²s S. Cepeda
%A Luiz Chaimowicz
%A Rogelio Soto
%A Jos¨¦ L. Gordillo
%A Ed¨¦n A. Alan¨ªs-Reyes
%A Luis C. Carrillo-Arce
%J Sensors
%D 2012
%I MDPI AG
%R 10.3390/s120912772
%X In this paper, we consider the problem of autonomous exploration of unknown environments with single and multiple robots. This is a challenging task, with several potential applications. We propose a simple yet effective approach that combines a behavior-based navigation with an efficient data structure to store previously visited regions. This allows robots to safely navigate, disperse and efficiently explore the environment. A series of experiments performed using a realistic robotic simulator and a real testbed scenario demonstrate that our technique effectively distributes the robots over the environment and allows them to quickly accomplish their mission in large open spaces, narrow cluttered environments, dead-end corridors, as well as rooms with minimum exits.
%K multi-robot autonomous navigation and exploration
%K coordinated behavior
%K service-oriented robotics
%U http://www.mdpi.com/1424-8220/12/9/12772