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Several real life scenarios, such as fire fighting, search and rescue, surveillance, etc., need multiple mobile robot coordination and task allocation. Such scenarios generally include distinct regions of interest that require the attention of some robots. Multi-robot systems require efficient and accurate planning in order to perform mission-critical tasks. However, algorithms that find the optimal solution are usually computationally expensive and may require a large number of messages between the robots as the robots need to be aware of the global spatiotemporal information.
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