Cooperative 3D Exploration under Communication Constraints

In this paper, a 3d exploration algorithm is presented which always keeps the robots within communication range of each other. The exploration is integrated into a control infrastructure containing sensors, mapping, navigation, and control of actuators. The algorithm is tested in a high fidelity simulator which takes into account the dynamics of the robot, and simulates the required sensors. Furthermore, we test the effect of communication range, and sensor range on the exploration.