An Hybrid Architecture for Multi-Robot Integrated Exploration
M. Julia, A. Gil, L. Paya, O. Reinoso
40th International Symposium on Robotics  (Barcelona, SPAIN 10-13 March, 2009)
Ed. AER-ATP  ISBN:978-84-920933-8-0  - 291-297


In this paper we present an hybrid approach to the multi-robot exploration problem. The model started from a reactive system. As stated by many authors, these systems have an inconvenient, the occurrence of local minima. Restricting the model to the expected safe zone of the robot we avoid the presence of local minima. At the same time, a planner builds up a decision tree in order to decide between exploring the current expected safe zone or traveling to another one. Several simulations demonstrate the validity of the approach.