Communicative Exploration with Robot Packs

  • Martijn N. Rooker
  • Andreas Birk
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4020)


Exploration is a core challenge for RoboCup Rescue. So-called communicative exploration is a novel strategy for multi-robot exploration that unlike other approaches takes the limits of wireless communication systems into account. Here, previous results that where achieved for a team of robots linked to a basestation are significantly extended to also cover robot packs, i.e., multi-robot teams that are not permanently tied to an operator’s station. Unlike teams that are constrained by the immobility of a basestation, packs can explore arbitrarily large regions. Results from experiments with packs of 4, 5 and 6 robots are presented. The new strategy constantly maintains the communication between the robots while exploring, whereas the commonly used frontier-based exploration strategy, which is used in the experiments as comparison to our approach, leads to a rapid loss of communication.


Communication Range Multiple Robot Exploration Algorithm Rescue Robot Frontier Cell 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Martijn N. Rooker
    • 1
  • Andreas Birk
    • 1
  1. 1.School of Engineering and ScienceInternational University BremenBremenGermany

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