Team-Aware Multirobot Strategy for Cooperative Path Clearing

Gita Sukthankar, Carnegie Mellon University

In this paper, we present a simulated version of a demining problem in which robotic minesweepers clear a battle area of anti-tank mines to enable troops to breach the field. The demining problem is modeled as a distributed optimization problem in which the robots strive to minimize an abstract cost function. Robots were simulated using the Java based simulator, TeamBots (www.teambots.org).


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