Multirobot System to Explore Unknown Environment with Connection Maintenance

Algorithm 1

Algorithm for robot to frontier allocation.

Input: (set of robots that are within the communication range)

    (set of frontiers)

Output: List of robot–frontier pair

for each do

for each do

Queue.add

end

end

while not Queue.is empty ()do

 = Queue.pop ()

if (Queue.peek ()), then

list.add ()

for each ϵQueue where i==x or j==y do

Queue.remove()

end

else

Queue.add()

end

end