Multi-Robot Exploration and Mapping with a rotating 3D Scanner

This paper investigates the field of exploration and map-building with multiple cooperating mobile robots. New and efficient exploration and mapping technique is proposed by employing laser scanners. The paper also aims to extend existing exploration and mapping techniques of single robot to multi-robot to increase the exploration efficiency (i.e. to reduce the environment exploration time required). The goal of the proposed method is to have multiple mobile robots exploring a given unknown environment as fast as possible, while coordinating their actions and sharing their local maps in certain time instances. In the suggested technique, each robot is equipped with a laser scanner that is continuously rotating to scan the environment, and is employing a frontier-based exploration algorithm which is important to guide the robots during the exploration. A new factor is introduced to enhance the performance of the frontier-based exploration. This factor aims at spreading robots in the environment to reduce overlap.