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Cooperative Search of Multiple Robots with a Distributed Algorithm

This paper presents a cooperative algorithm for multiple robots that move in 3-D unknown environment performing coverage and search tasks. We assume some significant constraints, i.e., each agent carried an onboard vision-based sensor facing downward to task area and has a limited communication radius. Based on the coverage control and probability map updated model, we proposed a combination method considering the tradeoff between probability information and Euclidean distance to obtain an optimal robots deployment. This algorithm is illustrated by the simulation and effectively make a group of robots searches multiple static targets under the coordination mechanism.