Line-of-sight constrained exploration for reactive multiagent robotic teams

This paper reports on an investigation into how a team of robotic agents can self-organize for the exploration of a building, subject to the constraint of maintaining line-of-sight communications. Three different behavioral strategies (anchored wander, quadrant-biased anchored wander, and informed exploration) have been developed and tested in simulation. The results are demonstrated within the context of the MissionLab multiagent mission specification system on two different scenarios.