Distributed Multirobot Exploration Based on Scene Partitioning and Frontier Selection

Figure 1

Flow diagram of the proposed method. Each robot implements all modules. During the exploration, each robot uses its information sharing module to transmit its exploration map and its position. Using this information they compute and allocate a new zone to explore, if needed. Then, each robot explores its assigned zone. During this exploration, the robot acquires new data from the environment. The exploration process ends when there are no more new zones to explore.