Simultaneous Exploration and Harvesting in Multi-robot Foraging
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.
KeywordsMulti-robot foraging Auction methods Target delivery
- 4.Koenig, N., Howard, A.: Design and use paradigms for Gazebo, an open-source multi-robot simulator. In Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2004, vol. 3, pp. 2149–2154. IEEE (2004)Google Scholar
- 8.Visser, A., Slamet, B.A.: Balancing the information gain against the movement cost for multi-robot frontier exploration. In: Bruyninckx, H., Přeučil, L., Kulich, M. (eds.) European Robotics Symposium 2008. STAR, vol. 44, pp. 43–52. Springer, Heidelberg (2008). https://doi.org/10.1007/978-3-540-78317-6_5