Digital Commons Network^™

Decentralized Unknown Building Exploration By Frontier Incentivization And Voronoi Segmentation In A Communication Restricted Domain, Huzeyfe M. Kocabas

All Graduate Theses and Dissertations, Fall 2023 to Present

Exploring unknown environments using multiple robots poses a complex challenge, particularly in situations where communication between robots is either impossible or limited. Existing exploration techniques exhibit research gaps due to unrealistic communication assumptions or the computational complexities associated with exploration strategies in unfamiliar domains. In our investigation of multi-robot exploration in unknown areas, we employed various exploration and coordination techniques, evaluating their performance in terms of robustness and efficiency across different levels of environmental complexity.

Our research is centered on optimizing the exploration process through strategic agent distribution. We initially address the challenge of city roadway coverage, aiming to minimize …