Abstract In this paper, we present a novel problem of simultaneous exploration and area coverage by multiple cooperating mobile robots. As the robots cover an initially unknown region, they perform intermittent exploration of the region and build a map, which in turn is used to plan the coverage path. We use a Voronoi partition based multi-robot coverage strategy using the Manhattan distance metric to solve the coverage problem and a frontier based exploration strategy for exploration mapping. We provide results of simulation using Matlab/V-rep environments to demonstrate the proposed multi-robot simultaneous exploration and coverage (MR-SimExCoverage) problem using the spanning tree based coverage (STC) algorithm.

中文翻译：

---

MR-SimExCoverage：多机器人同时探索和覆盖

摘要 在本文中，我们提出了多个协作移动机器人同时探索和区域覆盖的新问题。当机器人覆盖最初未知的区域时，它们会对该区域进行间歇性探索并构建一张地图，该地图又用于规划覆盖路径。我们使用基于 Voronoi 分区的多机器人覆盖策略使用曼哈顿距离度量来解决覆盖问题，并使用基于边界的探索策略进行探索映射。我们提供了使用 Matlab / V-rep 环境的模拟结果，以使用基于生成树的覆盖 (STC) 算法演示所提出的多机器人同时探索和覆盖 (MR-SimExCoverage) 问题。