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arXiv · 2208.06949

MACE: Multi-Agent Autonomous Collaborative Exploration of Unknown Environments

Charbel Toumieh·Alain Lambert
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Abstract

In this paper, we propose a new framework for multi-agent collaborative exploration of unknown environments. The proposed method combines state-of-the-art algorithms in mapping, safe corridor generation and multi-agent planning. It first takes a volume that we want to explore, then proceeds to give the multiple agents different goals in order to explore a voxel grid of that volume. The exploration ends when all voxels are discovered as free or occupied, or there is no path found for the remaining undiscovered voxels. The state-of-the-art planning algorithm uses time-aware Safe Corridors to guarantee intra-agent collision safety as well safety from static obstacles. The presented approach is tested in a state of the art simulator for up to 4 agents.

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Charbel Toumieh, Alain Lambert. 2022-08-15. MACE: Multi-Agent Autonomous Collaborative Exploration of Unknown Environments. https://arxiv.org/abs/2208.06949

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