Multi-robot cooperative autonomous exploration via task allocation in terrestrial environments

Frontiers in Neurorobotics

Neuroscience

Xiangda Yan¹  Huajie Hong¹  Keyan He¹  Zhe Zeng² 

[1] Laboratory of Unmanned Combat Systems, National University of Defense Technology, Changsha, China;Rescue & Salvage Department, Navy Submarine Academy, Qingdao, China;

关键词: cooperative autonomous exploration;    frontier;    Mean-Shift;    path planning;    task allocation;    multi-robot;   

DOI  :  10.3389/fnbot.2023.1179033

 received in 2023-03-03, accepted in 2023-05-16,  发布年份 2023

来源: Frontiers

【 摘 要 】

Cooperative autonomous exploration is a challenging task for multi-robot systems, which can cover larger areas in a shorter time or path length. Using multiple mobile robots for cooperative exploration of unknown environments can be more efficient than a single robot, but there are also many difficulties in multi-robot cooperative autonomous exploration. The key to successful multi-robot cooperative autonomous exploration is effective coordination between the robots. This paper designs a multi-robot cooperative autonomous exploration strategy for exploration tasks. Additionally, considering the fact that mobile robots are inevitably subject to failure in harsh conditions, we propose a self-healing cooperative autonomous exploration method that can recover from robot failures.

【 授权许可】

Unknown   
Copyright © 2023 Yan, Zeng, He and Hong.