Coordinated exploration of unknown labyrinthine environments applied to the pursuit evasion problem

Abstract

This paper introduces a multi-robot cooperation approach to solve the pursuit evasion problem for mobile robots that have omnidirectional vision sensors in unknown environments. The main characteristic of this approach is based on the robots cooperation by sharing knowledge and making them work as a team: a complete algorithm for computing robots motion strategy is presented as well as the deliberation protocol which distributes the exploration task among the team and takes the best possible outcome from the robots resources.