An evaluation of multi-robot systems exploration algorithms

Abstract EN

Multi-robot systems exploration of an environment is an important process that most
automated applications depend on.

In this paper, common algorithms used to perform
the exploration process of an unknown cell-based environment occupied by a set of
obstacles using a set of identical robots are studied and their performance are compared
depending on three metrics: the total explored area in the map, overall mission time, and
the number of hops in the networked robots.

The performance of these algorithms is
evaluated for different environments and different team sizes using MRESim computer
simulator.