Exploring a large area can be conveniently performed by a team of small autonomous vehicles for different applications, such as search and rescue, cleaning, or lawn mowing. The efficiency and performance of such autonomous exploration depends on the exploration algorithm implemented by the vehicles, and can be enhanced with a better communication and collaboration strategy within the team. In this paper, a new algorithm is proposed and evaluated where vehicles with a limited communication range pro-actively seek their teammates to exchange information about the explored area. Simulations show that this approach allows the vehicles to finish the exploration and return to their base station 18% faster, without consuming more energy.
['Akhila Rao', 'Fehmi Ben Abdesslem', 'Anders Lindgren', 'Artur Ziviani']
Team communication strategy for collaborative exploration by autonomous vehicles