Explore and monitor an environment using a variety of robots

摘要

Techniques for exploring and monitoring an environment using a variety of robots are provided. A plurality of robots navigate through an environment by defining a navigation buffer for each of the robots and allowing each of the robots to navigate in the environment while maintaining a substantially minimum distance from other robots, the substantially minimum distance being the Corresponds to the size of the navigation buffer and wherein a size of each of the navigation buffers is reduced over time based on a percentage of the environment that is still to be navigated. The robots can also navigate through an environment by discretizing the environment into a plurality of discrete areas and determining a next unvisited discrete area for a robot from the plurality of robots to cover that area in the exemplary environment using a width-based approach Search to explore. For example, the multitude of discrete areas can be a multitude of real or virtual disks.