A method for multi-agent exploration planning

Examensarbete för masterexamen

Please use this identifier to cite or link to this item: https://hdl.handle.net/20.500.12380/161383
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Type: Examensarbete för masterexamen
Master Thesis
Title: A method for multi-agent exploration planning
Authors: Chekanov, Alexander
Abstract: This project is concerned with the problem of exploration planning, which arises in systems of one or several mobile robots set with a task of exploring the map of their environment. Today the most popular algorithm that deals with this problem is the naive (greedy) approach, which is very simple and usually shows reasonably good results. This algorithm performs poorly in the worst case with several robots however. To cope with this problem, a new approach is developed and analyzed. This approach, called coordinated breadth-first search, is shown to guarantee linear scaling and to be asymptotically more efficient than the naive method in the worst case. To test these findings a computer simulation was developed which admits both algorithms and arbitrary maps. Finally, a comparison between the algorithms is made and further improvements are suggested.
Keywords: Datavetenskap (datalogi);Computer Science
Issue Date: 2012
Publisher: Chalmers tekniska högskola / Institutionen för data- och informationsteknik (Chalmers)
Chalmers University of Technology / Department of Computer Science and Engineering (Chalmers)
URI: https://hdl.handle.net/20.500.12380/161383
Collection:Examensarbeten för masterexamen // Master Theses



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