Multi-robot Search Algorithm using Timed Random Switching of Exploration Approaches

Abstract

This paper improves a previous solution to the search and rescue problem using a robotic swarm. The proposed algorithm uses timed random switching between two approaches in swarm exploration. The approaches use variable distance repulsion and fixed distance repulsion respectively and employ differing attitudes depending on observed exploration approach of neighbours. The comparison of results between the existing and proposed algorithm shows improvement when compared for target size, swarm size and environment area across all simulated scenarios.