Homecoming: A Multi-robot Exploration Method for Conjunct Environments with a Systematic Return Procedure

Shervin Ghasemlou, Ali Mohades, Taher Abbas Shangari, Mohammadreza Tavassoli

Abstract: The present work proposes a multi-robot exploration method for conjunct environments, based on one of the state-of-the-art algorithms. In many exploration missions, after the subject is found, it is beneficial if the discoverer robot returns back to the base station, in order to report, delivery or recharge. In addition, the exploration might need a long time to be finished or has to be done over and over. Returning back to the base station enables robots to get recharged, fixed, or even substituted with other robots. Furthermore, the equilibrium in task allocation to robots is this work’s other concern. The presented algorithm also reduces the maximum energy consumption of robots, as a good side effect. The efficiency of the proposed algorithm is demonstrated by providing simulation results for a variety of obstacle densities and different number of robots.