A two-level distributed coordination method for multi-robot 3D patrolling that separates topological target selection using shared idleness from metric spatial conflict resolution via traversability functions and 3D SLAM.
http://www.tradr-project.eu/wp-content/uploads/ dr.6.3.main_public.pdf (2017)
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3D Multi-Robot Patrolling with a Two-Level Coordination Strategy
A two-level distributed coordination method for multi-robot 3D patrolling that separates topological target selection using shared idleness from metric spatial conflict resolution via traversability functions and 3D SLAM.