FRONTIER BASED MULTI ROBOT AREA EXPLORATION USING PRIORITIZED ROUTING

Abstract

The paper deals with multi-robot centralized autonomous area exploration of unknown environment with static obstacles. A simple reasoning algorithm based on pre-assignment of routing priority is proposed. The algorithm tracks the frontiers and assigns the robots to the frontiers when the robots fall into a trap situation. The algorithm is simulated with various multi-robotic configurations in different environments and compared with performance indices in the MATLAB simulation environment.