Fast wall-following exploration with two cooperating mobile robots

In this paper two cooperating robots are used to explore an unknown environment. The new technique aims to decrease the exploration time and the energy consumption. It combines the wall-following exploration algorithm and frontier-based exploration technique. In the proposed algorithm the robots detect the walls and scan different parts of the environment as quick as they can. Then they employ frontier-based algorithm to complete exploring the remained unexplored areas. During these two stages, the robots sweep the line-of-sight between them in each step to maximize the exploration efficiency.