A Scalable Multi-robot System for Cooperative Exploration

In the last few years, mobile robots have become widespread in a lot of applications that require a certain level of autonomy. To overcome the performances of single-robot systems, multi-robot systems have been adopted in several domains achieving good results in exploration, search and rescue, and surveillance operations. This work presents an architectural system that focuses on scalability, making the multi-agent system able to include or exclude an agent without impacting the whole system. The framework has been designed to overcome communication issues that are typical of this kind of system. The proposed solution adopts a concise shared representation of reality which takes care only of the necessary information to allow cooperative exploration of multiple robots.