Flocking-Based Multi-Robot Exploration
2016-08-23
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Exploration of an unknown environment is one of the major applications of Multi-Robot Systems.
Many works have proposed multi-robot coordination algorithms to accomplish exploration
missions based on multi-agent systems techniques. Some of these works particularly focus on
multi-robot exploration under communication constraint. In this paper, we propose a solution
based on flocking rules in order to explore an open area while keeping robots close enough to
avoid disconnections. We show that the multi-robot coordination resulting from this approach is
effective and exhibits interesting properties compared to other works in the literature
Many works have proposed multi-robot coordination algorithms to accomplish exploration
missions based on multi-agent systems techniques. Some of these works particularly focus on
multi-robot exploration under communication constraint. In this paper, we propose a solution
based on flocking rules in order to explore an open area while keeping robots close enough to
avoid disconnections. We show that the multi-robot coordination resulting from this approach is
effective and exhibits interesting properties compared to other works in the literature
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