A DYNAMIC REGION DECOMPOSITION APPROACH TO COOPERATIVE MULTI-ROBOT MAP-BUILDING

In this paper we present a dynamic region decomposition approach to cooperative multi-robot map-building in a complicated unknown environment. The map is based on a two-dimensional occupancy grids. The range sensor readings are fused into the map using the Dempster-Shafter inference rules. We carry out an experiment with two simulated robots exploring a complex space and prove the effectiveness of this approach.