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Work on coordinated multi-robot exploration often assumes that all areas to be explored are freely accessible. This common assumption does not always hold, especially not in search and rescue missions after a disaster. Doors may be closed or paths blocked detaining robots from continuing their exploration beyond these points and possibly requiring multiple robots to clear them. This paper addresses...
With the introduction of multi-robot systems for exploration the question then arises, whether coordination among robots in such systems is required. We propose a model based on Markov processes to evaluate the need for coordination in multi-robot systems during the exploration of unknown environments and determine possible gains achievable through coordination. The model is illustrated by exploration...
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