2. Multi-robot systems

2.1 Supervised and distributed approaches

The use of several robots to explore and map an environment generates a number of problems not encountered with a single robot. This complexity must be taken into account if we are to benefit from such an approach, for example in terms of time savings or robustness. Generally speaking, deploying several robots in the same environment raises the following problems:

• communications for information exchange ;

• have a cooperative strategy for sharing tasks or space to explore;

• coordinate trajectories to avoid collisions and interlocking.

There are many approaches to defining a robot team's strategy. However, these...