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

Algorithm 2

A hunter agent’s iterative main loop.

 1: for, do

 2:  if, then

 3:   frontierBuffer  ChooseFrontier (, , OB)

 4:  end if

 5:  Update the status of the selected frontier on OB

 6:  if, then

 7:   if the selected frontier is still available, then

 8:    move towards the selected frontier

 9:    if a new task is detected, then

 10:     update OB

 11:    end if

 12:   else

 13:    

 14:   end if

 15:  end if

 16:  Update newly detected frontiers on OB

 17: end for