Journal of Robotics

Research Article

Minefield Mapping Using Cooperative Multirobot Systems

Algorithm 1

Macromanager BDI model.
  Beliefs  micromanagers, n, i
  Perform  divide Environment
micromanager_ROI     Environment  ÷ n
  While  Environment not scanned  do
    Perform  scan Environment
    Update  Beliefs
  end while
  Perform  generate global object/event map
  Perform  cluster global map, i