Online Multi-Agent Based Cooperative Exploration and Coverage in Complex Environment
Антон Валерійович Коваль, Sina Sharif Mansouri, George Nikolakopoulos · 2019
In this article, an online collaborative exploration and coverage method is proposed for the unknown complex environment with multiple agents. The exploration and coverage is based on Boustrophedon motion, while the detection conditions for backtracking points have been modified based on mission requirements, the battery charge level of each agent is considered to reduce agent loss, and collision free paths are generated. The proposed method is evaluated in simulation, where complex environment with multiple branches is explored by multiple agents.