Coverage-Enhanced Unknown Area Exploration and Mapping Technique for a Multi-Robot System
| International Journal of Electronics and Communication Engineering |
| © 2025 by SSRG - IJECE Journal |
| Volume 12 Issue 10 |
| Year of Publication : 2025 |
| Authors : Seenu N, Janaki Raman S |
10.14445/23488549/IJECE-V12I10P111
How to Cite?
Seenu N, Janaki Raman S, "Coverage-Enhanced Unknown Area Exploration and Mapping Technique for a Multi-Robot System," SSRG International Journal of Electronics and Communication Engineering, vol. 12, no. 10, pp. 116-128, 2025. Crossref, https://doi.org/10.14445/23488549/IJECE-V12I10P111
Abstract:
An active task distribution algorithm is presented to realize the multi-robot exploration and mapping in new environments. During such missions, when covering unexplored areas, coverage has to be done in an efficient manner to provide a good performance. Inefficient task assignment usually results in the re-use of explored regions by robots. This leads to the wastage of fuel, time, and communication resources. The strategy employed by the proposed approach maximizes area coverage by providing dynamic task assignments so that each robot can target queues or recently covered and unexplored areas. It saves time, increases the productivity of the individual robots, and accelerates the entire mapping process by reducing duplication. The configuration was experimented with using the Robot Operating System (ROS) and the Gazebo simulation platform. These tests were done indoors, where there were obstacles that made the environment realistic. The findings indicated significant increases in the exploration speed, coverage factor, and mapping completion rate as compared to those of the existing methods. After a visual examination of the simulation results, it was clear that very few duplicate paths were obtained. This cements the fact that the allocation technique assists robots in a more efficient operation and with improved resource management. This is achieved through enhanced coverage of areas and reduction of unintended motions, making the multi-robot performance in complicated and unfamiliar terrains. It offers a scalable solution to such applications as search and rescue, environmental monitoring, and autonomous inspection.
Keywords:
Multi-Robot Systems, Dynamic Task Allocation, Exploration of Unknown Territory, Mapping of Unknown Territory, Territory Coverage.
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