Multitarget Search of Swarm Robots in Unknown Complex Environments

Figure 5

Swarm robots for multitarget search in unknown environments with convex obstacles. (a) T = 0, (b) T = 69, (c) T = 91, (d) T = 106, (e) T = 135, (f) T = 338.

(a)

(b)

(c)

(d)

(e)

(f)