Automated Multi-Robot Search for a Stationary Target

Abstract

In this paper, a team of identical mobile robots were used to perform a search technique in order to find a stationary object. Considering search time minimization, the search procedures is maintained until the object is found. During the search process, each mobile models the in vicinity environment, and distributes the sensory information to the other robots. This practise would trim down search area overlap between the different robots. Two distinct exploration techniques were utilized, concurrently, as search techniques, namely, the standard frontier-based search technique and the reduced overlap frontier search technique. The former is assumed a standard well known exploration method, while the latter is used to diminish the overlap possibilities between the searching robots. Obtained results confirm that search techniques optimization is governed by time reduction as has been concluded for the exploration techniques.