Multi-Agent Foraging: state-of-the-art and research challenges

Background The foraging task is one of the canonical testbeds for cooperative robotics, in which a collection of robots has to search and transport objects to specific storage point(s). In this paper, we investigate the Multi-Agent Foraging (MAF) problem from several perspectives that we analyze in depth. Results First, we define the Foraging Problem according to literature definitions. Then we analyze previously proposed taxonomies, and propose a new foraging taxonomy characterized by four principal axes: Environment, Collective, Strategy and Simulation , summarize related foraging works and classify them through our new foraging taxonomy. Then, we discuss the real implementation of MAF and present a comparison between some related foraging works considering important features that show extensibility, reliability and scalability of MAF systems Conclusions Finally we present and discuss recent trends in this field, emphasizing the various challenges that could enhance the existing MAF solutions and make them realistic.