Collaborative Terrain Exploration via a Distributed Graph Algorithm in Multi-Robot Systems
Author
Term
4. term
Education
Publication year
2025
Submitted on
2025-06-13
Pages
9
Abstract
Terrain exploration finds application in both emergency sce- narios (for example in building fires with partial collapses requiring rapid layout mapping) and noncritical applications (for example in mining and underground exploration or agri- culture and precision farming). This paper extends the Greedy Graph algorithm - a dis- tributed graph-based algorithm for efficient multi-robot ex- ploration in unknown environments. The approach enables robots to collaboratively construct an online graph represen- tation of the terrain during exploration, dynamically minimiz- ing redundant coverage through decentralized coordination. The extended Greedy Graph algorithm improves the ex- ploration and task allocation capabilities of the original, by refining the exploration algorithm and introducing task dis- tribution heuristics. The extended algorithm and all its variations are validated in simulated environments and its performance is compared against existing exploration methods such as The Next Fron- tier and Minotaur exploration algorithms, demonstrating improvements in exploration speed and scalability.
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