Artificial Intelligence and Robotics Commons^™

Real-Time Hierarchical Map Segmentation For Coordinating Multi-Robot Exploration, Tianze Luo, Zichen Chen, Budhitama Subagdja, Ah-Hwee Tan

Research Collection School Of Computing and Information Systems

Coordinating a team of autonomous agents to explore an environment can be done by partitioning the map of the environment into segments and allocating the segments as targets for the individual agents to visit. However, given an unknown environment, map segmentation must be conducted in a continuous and incremental manner. In this paper, we propose a novel real-time hierarchical map segmentation method for supporting multi-agent exploration of indoor environments, wherein clusters of regions of segments are formed hierarchically from randomly sampled points in the environment. Each cluster is then assigned with a cost-utility value based on the minimum cost possible …