The paper discusses the challenges of exploration and navigation in unknown environments from a swarm robotics perspective. A sub-goal-based path formation method is proposed, which forms a path between two locations by exploiting visually connected sub-goals. The paper also addresses the problem of inter-collision among robots engaged in path formation, proposing a task allocation strategy that uses local communication protocols and light signal-based communication to reduce congestion. The performance of this method is evaluated against the A* algorithm, showing promising results in terms of scalability, robustness, and fault tolerance.
Publication date: 27 Dec 2023
Project Page: https://arxiv.org/abs/2312.16606v1
Paper: https://arxiv.org/pdf/2312.16606
