Incremental Map Generation by Low Cost Robots Based on Possibility/Necessity Grids

TL;DR

This paper demonstrates how low-cost robots can cooperatively explore unknown environments and incrementally generate maps using possibility/necessity grids, enhancing coverage and collaboration.

Contribution

It introduces a method for cooperative exploration and map generation with low-cost robots using possibility/necessity grids for incremental mapping.

Findings

Robots effectively explore and map structured orthogonal environments.

Cooperative behavior improves exploration efficiency.

Incremental map generation is feasible with low-cost robotic systems.

Abstract

In this paper we present some results obtained with a troupe of low-cost robots designed to cooperatively explore and adquire the map of unknown structured orthogonal environments. In order to improve the covering of the explored zone, the robots show different behaviours and cooperate by transferring each other the perceived environment when they meet. The returning robots deliver to a host computer their partial maps and the host incrementally generates the map of the environment by means of apossibility/ necessity grid.