Frontier Exploration and Task Allocation-based Cooperative Mapping Algorithm for Multi-robot System

Multi-robot systems have advantages of higher scalability and flexibility compared to high-cost single robot. Due to these advantages, the utilization of multi-robots in various fields are increasing. One of the example is exploration problem of unknown mission area, where multi-robot system have better accessibility to narrow space, and ability to respond to potential risks like hidden enemy. When multi-robot systems are used for exploration, it is necessary to consider cooperation of robots to achieve satisfactory performance of the overall system. In this paper, an frontier and task allocation-based cooperative exploration algorithm for multi-robot system is suggested. Multi-robots are organized into serveral groups with hierarchy. Frontier segmentation and clustering approach was utilized to consider cooperation between groups and individual robots. Numerical simulations are conducted to verify performance of the algorithm, and the suggested algorithm showed appropriate performance compared to the centralized method.