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Realisation of Navigation Concepts for the Multi-agent Flood Algorithm for Search & Rescue Scenarios Using RFID Tags

In this paper we use a new version of our simulator to enhance the Multi-Agent Flood algorithm and make it more applicable to "real" world scenarios. The new simulator is dispensing the use of the grid for movement and instead is sing the Polar coordinate system to let the agents move round more freely. This allows the movement by using directional vectors and an angle of rotation, instead of using only the coordinates of the Moore neighborhood in the grid. As a consequence the Multi-Agent Flood algorithm had to be adapted as it could not simply mark cells in the grid anymore. To change this further we introduced the use of RFID tags as a means to allow the indirect communication between the different agents. By removing this abstraction it should be feasible to implement the algorithm using real robots.