Scott, AdeleYu, Changbin (Brad)2015-12-10February 19781424427130http://hdl.handle.net/1885/51843This 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 confirm the scalability and the effectiveness of these algorithms. This research justifies and prepares for a full trial in a multi-robot testbed.Keywords: Charge profiles; Mapping algorithms; Mission requirements; Multi-Agent; Multirobot; Potential field; Simulation result; Autonomous agents; Conformal mapping; Robots; Multi agent systems200910.1109/ICARA.2000.48039502016-02-24