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Enhanced frontier-based exploration for indoor environment with multiple robots

In this paper, the exploration and map-building of unknown environment by a team of mobile robots is intensively investigated. A new exploration technique is proposed to increase the exploration efficiency. In particular, the new technique has two main objectives: firstly, it aims at reducing the exploration time and the traveled distance by reducing the overlap which takes place when a certain area in the environment is explored by more than one robot. To achieve this, a new procedure to assign the next target location for each individual robot is proposed. And secondly, it aims at reducing computations complexity required by target selection and path planning tasks. More importantly, the proposed technique obviates the need for environment segmentation complex procedures which is adopted in some previous important research works. The new technique is intensively tested with different environments. The results showed the effectiveness of the proposed technique.