- Implementation of This Paper
- A Python and ROS implementation of this paper can be found at Here
In the task of terrain exploration using multiple robots the present challenges are collission avoidance and declaration of completion. This paper introduces a novel decentralized method for tree/graph exploration with collission avoidance using minimum sensory data and declaration of compeltion of exploration. The paper proposes the use of modified incidence matrix as a data structure for information exchange between robots and the vertex. A robot will drop beacons at every vertex that it travels , to update the incidence matrices and thus convey the message of its edge choices to any subsequent robot that come to that node.
Matlab_imple_video.mp4
[MATLAB Implemetation_ver0] Link
- Contains code for general topology Algorithm execution
[MATLAB Implemetation_9_3] Link
- Contains a particular topology execution; whose video is pinned in README.md
[Python Implementation] Link
- Contains general algorithm execution for any random topology in Python
[Improved-MR-DFS.pdf] Link
- The implemented paper's pdf version.
Run the testing script and enter the number of robots and the number of robots per cluster : Enter 9 and 3
Note : MATLAB Implementation is for only one case , with the following constrants:
- Number of robots : 9 & Number of Leaf Nodes : 3
- Present Implementation done for 9 robots, 3 robot/cluster
- A more general implementation is available Here