A two-level distributed coordination method for multi-robot 3D patrolling that separates topological target selection using shared idleness from metric spatial conflict resolution via traversability functions and 3D SLAM.
Interna- tional Journal of Advanced Robotic Systems 13(6), 1729881416663,666 (2016)
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3D Multi-Robot Patrolling with a Two-Level Coordination Strategy
A two-level distributed coordination method for multi-robot 3D patrolling that separates topological target selection using shared idleness from metric spatial conflict resolution via traversability functions and 3D SLAM.