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

Figure 3

This figure explains CPM and UPM in an occupancy grid map with presence of obstacles, where the agent is located at the center. In the generated PRM, gray nodes represent nodes that are beyond agent's profit margins, while green and red nodes represent nodes which are within the agent's CPM and UPM, respectively. CPM and UPM have been calculated for different values of Rcand Ru: (a) Rc Ł 4 mand Ru Ł 10 m, (b) Rc Ł 8 m and Ru Ł 16 m, and (c) Rc Ł 14 mand Ru Ł 25 m

(a)

(b)

(c)