Frontier-based exploration using multiple robots

Frontier-based exploration directs mobile robots to regions on the boundary between unexplored space and space that is known to be open. Previously, we have demonstrated that frontier-based exploration can be used to map indoor environments where walls and obstacles may be in arbitrary orientations. In this paper, we show how frontier-based exploration can be extended to multiple robots. In our approach, robots share perceptual information, but maintain separate global maps, and make independent decisions about where to explore. This approach enables robots to make use of information from other robots to explore more effectively, but it also allows the team to be robust to the loss of individual robots. We have implemented our multirobot exploration system on real robots, and we demonstrate that they can explore and map office environments as a team.