AN EVALUATION OF MULTI-ROBOT SYSTEMS EXPLORATION ALGORITHMS

摘要

Multi-robot systems exploration of an environment is an important process that mostautomated applications depend on. In this paper, common algorithms used to performthe exploration process of an unknown cell-based environment occupied by a set ofobstacles using a set of identical robots are studied and their performance are compareddepending on three metrics: the total explored area in the map, overall mission time, andthe number of hops in the networked robots. The performance of these algorithms isevaluated for different environments and different team sizes using MRESim computersimulator.