A master thesis from Aalborg University
Collaborative Terrain Exploration via a Distributed Graph Algorithm in Multi-Robot Systems
Author(s)
Term
4. term
Education
Publication year
2025
Submitted on
2025-06-13
Pages
9 pages
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.
Keywords
Documents
Colophon: This page is part of the AAU Student Projects portal, which is run by Aalborg University. Here, you can find and download publicly available bachelor's theses and master's projects from across the university dating from 2008 onwards. Student projects from before 2008 are available in printed form at Aalborg University Library.
If you have any questions about AAU Student Projects or the research registration, dissemination and analysis at Aalborg University, please feel free to contact the VBN team. You can also find more information in the AAU Student Projects FAQs.