Mapping and exploration in a hierarchical heterogeneous multi-robot system using limited capability robots

• A customised mapping and exploration task for heterogeneous robots is presented.
• A hierarchical system is proposed where computationally powerful robots manage the exploration of limited capability robots.
• This enables resources (such as processing) to be shared and tasks to be abstracted.
• A robust task score feedback parameter is used to disperse robots during exploration.

This paper focusses on the development of a customised mapping and exploration task for a heterogeneous ensemble of mobile robots. Many robots in the team may have limited processing and sensing abilities. This means that each robot may not be able to execute all components of the mapping and exploration task. A hierarchical system is proposed that consists of computationally powerful robots (managers) at the upper level and limited capability robots (workers) at the lower levels. This enables resources (such as processing) to be shared and tasks to be abstracted. The global environment containing scattered obstacles is divided into local environments by the managers for the workers to explore. Worker robots can be assigned planner and/or explorer tasks and are only made aware of information relevant to their assigned tasks.