Indoor Collaborative Robot Exploration: A Distributed Market-Based Approach

Collaborative robotic exploration relies on multiple robots working together to survey an unknown environment. This letter presents the implementation of a collaborative fleet of robots designed to perform autonomous 2-D indoor mapping. The main contributions are: 1) an original solution to the problem of distributing multiple tasks among multiple robots, implemented as a distributed version of the auction mechanism and 2) the release of the code through a public repository.