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Conference Papers Year : 2014

Comparison of Task-Allocation Algorithms in Frontier-Based Multi-Robot Exploration

Abstract

In this paper, we address the problem of efficient allocation of the navigational goals in the multi-robot exploration of unknown environment. Goal candidate locations are repeatedly determined during the ex- ploration. Then, the assignment of the candidates to the robots is solved as the task-allocation problem. A more frequent decision-making may im- prove performance of the exploration, but in a practical deployment of the exploration strategies, the frequency depends on the computational complexity of the task-allocation algorithm and available computational resources. Therefore, we propose an evaluation framework to study explo- ration strategies independently on the available computational resources and we report a comparison of the selected task-allocation algorithms deployed in multi-robot exploration.
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Dates and versions

hal-01081853 , version 1 (11-11-2014)

Identifiers

  • HAL Id : hal-01081853 , version 1

Cite

Jan Faigl, Olivier Simonin, François Charpillet. Comparison of Task-Allocation Algorithms in Frontier-Based Multi-Robot Exploration. 12th European Conference on Multi-Agent Systems, Dec 2014, Prague, Czech Republic. ⟨hal-01081853⟩
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