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.
Journal of Field Robotics 34(5), 940–984 (2017) 3D Multi-Robot Patrolling with a Two-Level Coordination Strategy 33
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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.