Exploration and Coordination of Complementary Multirobot Teams in a Hunter-and-Gatherer Scenario

Algorithm 1

Frontier selection function.

 1:  function ChooseFrontier (, , online board)

 2:  for all detected frontiers in online board do

 3:    categorize frontiers

 4:  end for

 5:  if, then

 6:    Calculate EG set

 7:    choose the frontier with the highest EG

 8:   return

 9:  else if and , then

 10:    Calculate EG set

 11:    choose the frontier with the highest EG

 12:   return

 13:  else

 14:   return

 15:  end if

 16: end function