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

Figure 4

An example illustrating the way a hunter calculates the number and collective CF of frontiers within a candidate frontier’s CPM: (a) categorization of frontiers and selecting a candidate frontier, and (b) the frontiers available within the candidate frontier’s CMP are in purple. In other words, if the hunter visits the candidate frontier, then all purple frontiers will be accessible within its CPM (neighborhood).

(a)

(b)