Collaborative Terrain Exploration via a Distributed Graph Algorithm in Multi-Robot Systems
Author
Angelov, Dimitar Valentinov
Term
4. term
Education
Publication year
2025
Submitted on
2025-06-13
Pages
9
Abstract
Terrain exploration finds application in both emergency scenarios (for example in building fires with partial collapses requiring rapid layout mapping) and noncritical applications (for example in mining and underground exploration or agriculture and precision farming). This paper extends the Greedy Graph algorithm - a distributed graph-based algorithm for efficient multi-robot exploration in unknown environments. The approach enables robots to collaboratively construct an online graph representation of the terrain during exploration, dynamically minimizing redundant coverage through decentralized coordination. The extended Greedy Graph algorithm improves the exploration and task allocation capabilities of the original, by refining the exploration algorithm and introducing task distribution 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 Frontier and Minotaur exploration algorithms, demonstrating improvements in exploration speed and scalability.
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