@inproceedings{58a95a8aeb004ce2a856b217d7bf8847,
title = "Multi-robot complete exploration using hill climbing and topological recovery",
abstract = "This article addresses the problem of autonomous map building and exploration of an unknown environment with mobile robots. The proposed method assumes that mobile robots use occupancy grid maps as the main representation model for the built maps and a hill climbing local search algorithm for exploring the environment without any kind of human intervention. It is demonstrated that hill climbing based exploration may recover from local minima and cover completely any environment, if a topological representation of the environment is created incrementally along the mapping and exploration mission. The approach is devised for either a single mobile robot or multiple cooperative mobile robots.",
keywords = "Autonomous exploration, Map building, Multi-robot systems, Occupancy grids, Topological maps",
author = "Rui Rocha and Filipe Ferreira and Jorge Dias",
year = "2008",
doi = "10.1109/IROS.2008.4650625",
language = "British English",
isbn = "9781424420582",
series = "2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS",
pages = "1884--1889",
booktitle = "2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS",
note = "2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS ; Conference date: 22-09-2008 Through 26-09-2008",
}