The system operates completely
- autonomously, i.e., robots explore without intervention of humans a given area and return to the original starting position having completed the exploration
- independent, i.e., robots do not rely on preexisting infrastructure but set up their own ad-hoc network
- coordinated, i.e., before assigning new frontiers to explore, robots coordinate each other to prevent redundant exploration of areas
- self-organized, i.e., no central entity control the system
Try it out yourself using ROS. We've test the system on Pioneer 3-DX and turtlebots in various environments.