Efficient Online Multi-robot Exploration via Distributed Sequential Greedy Assignment

  title={Efficient Online Multi-robot Exploration via Distributed Sequential Greedy Assignment},
  author={Micah Corah and Nathan Michael},
  booktitle={Robotics: Science and Systems},
This work addresses the problem of efficient online exploration and mapping using multi-robot teams via a distributed algorithm for planning for multi-robot exploration— distributed sequential greedy assignment (DSGA)—based on the sequential greedy assignment (SGA) algorithm. SGA permits bounds on suboptimality but requires all robots to plan in series. Rather than plan for robots sequentially as in SGA, DSGA assigns plans to subsets of robots during a fixed number of rounds. DSGA retains the… 

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