Continuous Collaborative Mapping in Unknown Environments: A Multi-Robot System Approach

Abstract

Navigating and exploring unknown terrains remains a critical challenge within the field of mobile robotics. Achieving rapid and consistent exploration is crucial for the prompt generation of precise maps. This thesis introduces a cutting-edge distributed exploration system utilizing a multi-robot fleet. This innovative system is crafted to facilitate continuous exploration in unexplored areas by implementing a novel dronebased communication relay method. Additionally, it enables the synthesis of an integrated, comprehensive global map, providing crucial, rapid insights for human operators into the explored areas. The effectiveness of this system has been thoroughly evaluated through a series of simulated experiments encompassing various trials. These evaluations underscore the system’s capability in smoothly conducting exploration tasks, notably overcoming delays traditionally linked to communication challenges.