Scott, Adele; Yu, Changbin (Brad)
This paper addresses the problem of mapping and exploration of an unknown space by cooperative multi-agent systems. The exploration problem is extended to jointly covering an area n times. Agents are localised and can communicate with other agents. A probability based mapping algorithm is developed. Based upon this, a potential field based exploration algorithm is proposed, with three sample charge profiles that can be used for different mission requirements. Simulation results in Webots...[Show more]
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