Building maps with Multi-Robot Systems under limited communication

In the last two decades, several methods to exploration with Multi-Robot Systems (MRS) have been proposed, most of them based in the detection and allocation of frontiers. However, communication issues and robots' map Synchronization problem usually are neglected by the authors. In this paper, a distributed scheme that can handle some important communication issues is proposed to synchronize the maps of the robots and other relevant information in a network. We also propose a scheme to represent the information robots have about the application that allows them share information with each other avoiding the exchanging of unnecessary information. Some experiments were also performed to verify the efficacy and efficiency the method and also to compare it with the method proposed by Sheng.