This letter proposes a routing framework for heterogeneous multi-robot teams in exploration tasks. The proposed framework deals with a combinatorial optimization problem, and provides a new solving algorithm, for Generalized Team Orienteering Problem (GTOP). In this letter, a route optimization problem is formulated for a heterogeneous multi-robot system. A novel problem solver is also proposed based on self-organizing map. The proposed framework has a strong advantage in its scalability because the processing time is independent from the number of robots, and the heterogeneity of the team. The validity of the proposed framework is evaluated in the exploration, and mapping tasks by heterogeneous robot team with overlapping abilities. The simulation results show the effectiveness of the proposed framework, and how it outperforms the conventional greedy exploration scheme.

中文翻译：

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探索任务中异构多机器人团队的路由框架

这封信为探索任务中的异构多机器人团队提出了一个路由框架。所提出的框架处理组合优化问题，并为广义团队定向问题（GTOP）提供了一种新的求解算法。在这封信中，为异构多机器人系统制定了路线优化问题。还提出了一种基于自组织图的新型问题解决器。所提出的框架在其可扩展性方面具有很强的优势，因为处理时间与机器人的数量和团队的异构性无关。通过具有重叠能力的异构机器人团队在探索和映射任务中评估所提出框架的有效性。仿真结果表明了所提出框架的有效性，