Generating 2-D space maps form unknown environments using multiple autonomous robots

The paper deals with the development of 2D space maps during navigation in unknown environments by using multiple autonomous mobile robots, which communicate and exchange space and travel knowledge. The 2D map generation is based on the synthesis of shapes extracted from consecutive free spaces. Each shape extracted from a current free navigation space is represented by attributed graphs. Thus, the synthesis of the shapes is based on the synthesis of graphs for the generation of new graph forms that represent new shapes traveled by autonomous robots. Illustrative examples for the generation of a space map with obstacles are presented by using a single robot and three robots as well