Comparison of Task-Allocation Algorithms in Frontier-Based Multi-Robot Exploration

Jan Faigl 1 Olivier Simonin 2 François Charpillet 3
2 DYNAMID - Dynamic Software and Distributed Systems
CITI - CITI Centre of Innovation in Telecommunications and Integration of services
3 MAIA - Autonomous intelligent machine
Inria Nancy - Grand Est, LORIA - AIS - Department of Complex Systems, Artificial Intelligence & Robotics
Abstract : In this paper, we address the problem of efficient allocation of the navigational goals in the multi-robot exploration of unknown environment. Goal candidate locations are repeatedly determined during the ex- ploration. Then, the assignment of the candidates to the robots is solved as the task-allocation problem. A more frequent decision-making may im- prove performance of the exploration, but in a practical deployment of the exploration strategies, the frequency depends on the computational complexity of the task-allocation algorithm and available computational resources. Therefore, we propose an evaluation framework to study explo- ration strategies independently on the available computational resources and we report a comparison of the selected task-allocation algorithms deployed in multi-robot exploration.
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Contributor : Olivier Simonin <>
Submitted on : Tuesday, November 11, 2014 - 11:00:11 PM
Last modification on : Wednesday, November 20, 2019 - 7:33:37 AM


  • HAL Id : hal-01081853, version 1


Jan Faigl, Olivier Simonin, François Charpillet. Comparison of Task-Allocation Algorithms in Frontier-Based Multi-Robot Exploration. 12th European Conference on Multi-Agent Systems, Dec 2014, Prague, Czech Republic. ⟨hal-01081853⟩



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