The exploration problem is considered as one of the fundamental problems in autonomous mobile robotics. The exploration task refers to achieve the complete coverage of a previously unknown environment. Currently, there are several real scenarios where achieving the whole exploration of a zone is one of the main parts of the mission. Some of them are: planetary exploration, reconnaissance, rescue, agriculture, cleaning or the exploration of dangerous places as mined lands and radioactive zones. Due to their inner qualities -mainly efficiency and robustness- in many cases a multi-robot system is chosen to carry this task out.
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