Simultaneous Exploration and Harvesting in Multi-robot Foraging

  • Zilong Jiao
  • Jae Oh
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10868)


We study the multi-robot foraging problem in an unknown environment with risks. Robots have to explore entire unknown environment without stepping into risk areas and simultaneously collect all discovered targets. We present a novel algorithm that integrates the frontier-based exploration algorithm with auction-based task-allocation. Extensive simulation studies demonstrate that our algorithm can balance the tasks of environment exploration and target collection efficiently.


Multi-robot foraging Auction methods Target delivery 


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Copyright information

© Springer International Publishing AG, part of Springer Nature 2018

Authors and Affiliations

  1. 1.Department of Electrical Engineering and Computer ScienceSyracuse UniversitySyracuseUSA

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