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SyWaP: Synchronized wavefront propagation for multi-robot assignment of spatially-situated tasks
2013 16th International Conference on Advanced Robotics (ICAR)
Task assignment is paramount for the efficiency of multi-robot missions. In the context of multi-robot exploration of unknown environments, tasks can be identified as targets to reach in order to expand knowledge of the environment. These targets can be frontiers between known reachable area and unknown areas or a best view configuration to observe each frontiers. Once these tasks are identified, they are assigned to robots. Standard approaches work in a two step process where the costs ofdoi:10.1109/icar.2013.6766529 dblp:conf/icar/Bautin0C13 fatcat:w57fa42fbnam7cnfiyzovt2szu