Paper ID: 2311.16958

From Simulations to Reality: Enhancing Multi-Robot Exploration for Urban Search and Rescue

Gautam Siddharth Kashyap, Deepkashi Mahajan, Orchid Chetia Phukan, Ankit Kumar, Alexander E. I. Brownlee, Jiechao Gao

In this study, we present a novel hybrid algorithm, combining Levy Flight (LF) and Particle Swarm Optimization (PSO) (LF-PSO), tailored for efficient multi-robot exploration in unknown environments with limited communication and no global positioning information. The research addresses the growing interest in employing multiple autonomous robots for exploration tasks, particularly in scenarios such as Urban Search and Rescue (USAR) operations. Multiple robots offer advantages like increased task coverage, robustness, flexibility, and scalability. However, existing approaches often make assumptions such as search area, robot positioning, communication restrictions, and target information that may not hold in real-world situations. The hybrid algorithm leverages LF, known for its effectiveness in large space exploration with sparse targets, and incorporates inter-robot repulsion as a social component through PSO. This combination enhances area exploration efficiency. We redefine the local best and global best positions to suit scenarios without continuous target information. Experimental simulations in a controlled environment demonstrate the algorithm's effectiveness, showcasing improved area coverage compared to traditional methods. In the process of refining our approach and testing it in complex, obstacle-rich environments, the presented work holds promise for enhancing multi-robot exploration in scenarios with limited information and communication capabilities.

Submitted: Nov 28, 2023