Hybrid Vulture-Coordinated Multi-Robot Exploration: A Novel Algorithm for Optimization of Multi-Robot Exploration

Abstract

Exploring unknown environments using multiple robots has numerous applications in various fields but remains a challenging task. This study proposes a novel hybrid optimization method called Hybrid Vulture-Coordinated Multi-Robot Exploration ((Formula presented.)), which combines Coordinated Multi-Robot Exploration ((Formula presented.)) and African Vultures Optimization Algorithm ((Formula presented.)) to optimize the construction of a finite map in multi-robot exploration. We compared  (Formula presented.)  with four other similar algorithms using three performance measures: run time, percentage of the explored area, and the number of times the method failed to complete a run. The experimental results show that HVCME outperforms the other four methods, demonstrating its effectiveness in optimizing the construction of a finite map in an unknown indoor environment.