| Abstract: |  This work is focused on the exploration of an unknown environment by a
team of mobile robots. Each robot in the team discovers its neighbourhood
by gathering sensory information from the environment and contributes to
a global map. Typical applications are military assignments, environment
cleaning, searching for victims, and generally locations dangerous for people.The goal is to explore the environment as soon as possible, thus minimize the exploration time. The common representation of the environment is an occupancy grid while a polygonal representation is used in this thesis. This approach has many advantages but it brings some problems, and requires special handling. The exploration process depends on the exploration strategy. The main goal of this thesis is to implement the general exploration framework in ROS based on polygonal representation of the environment together with some existing exploration strategies. Finally, the results achieved with the framework are presented and discussed.
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