A hybrid system for multi-agent exploration

This paper describes a multi-agent system that performs exploration and target seeking. A bidding scheme is applied to obtain assistance and cooperation between the mobile robots. An occupancy grid-based map and laser sensors are used for mapping. Frontier based exploration is implemented to determine unexplored areas to search. Targets are identified by designated colours in the vision sensors. Wave front propagation is used for path planning to both the frontiers and the targets. Fuzzy logic is applied to the laser readings to perform collision avoidance.