We present an algorithm to explore an orthogonal polygon using a team of p robots. This algorithm combines ideas from information-theoretic exploration algorithms and computational geometry based exploration algorithms. The algorithm is based on a single-robot polygon exploration algorithm and a tree exploration algorithm. We show that the exploration time of our algorithm is competitive (as a function of p) with respect to the offline optimal exploration algorithm. We discuss how this strategy can be adapted to real-world settings to deal with noisy sensors. In addition to theoretical analysis, we investigate the performance of our algorithm through simulations for multiple robots and experiments with a single robot. / Master of Science
| Identifer | oai:union.ndltd.org:VTETD/oai:vtechworks.lib.vt.edu:10919/78847 |
| Date | 08 September 2017 |
| Creators | Premkumar, Aravind Preshant |
| Contributors | Electrical and Computer Engineering, Tokekar, Pratap, Stilwell, Daniel J., Raghvendra, Sharath |
| Publisher | Virginia Tech |
| Source Sets | Virginia Tech Theses and Dissertation |
| Detected Language | English |
| Type | Thesis |
| Format | ETD, application/pdf |
| Rights | In Copyright, http://rightsstatements.org/vocab/InC/1.0/ |
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