To improve time efficiency for structured environment exploration of multi-robot systems, a novel coordinated strategy based on predicate logic reasoning is proposed in this paper. The strategy assigns the room with maximal utility to the robot with the optimal exploring property, and realizes cooperative exploration by considering the room capacity. A set of predicate logic reasoning formulas is established to implement the coordination. The coordination takes into account robot performance and environment property and is conducted in a distributed manner. In addition, to save computing and storage resources, a triple set named as task information was proposed instead of traditional unfinished job list for environment information sharing among robots. The results are validated by computer simulations for two simulated office like environments.

中文翻译：

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结构化环境中多机器人系统探索协调的谓词逻辑推理

为了提高多机器人系统结构化环境探索的时间效率，本文提出了一种基于谓词逻辑推理的新型协调策略。该策略将效用最大的房间分配给具有最优探索特性的机器人，并通过考虑房间容量实现协同探索。建立了一组谓词逻辑推理公式来实现协调。协调考虑机器人性能和环境属性，并以分布式方式进行。此外，为了节省计算和存储资源，提出了一种名为任务信息的三元组，而不是传统的未完成任务列表，用于机器人之间的环境信息共享。结果通过计算机模拟对两个模拟办公室环境进行了验证。