HAL Id: hal-00982716
https://hal.inria.fr/hal-00982716
Submitted on 24 Apr 2014
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Coordinated exploration for labyrinthine environments
with application to the Pursuit-Evasion problem
Damien Pellier, Humbert Fiorino
To cite this version:
sent to all stuck robots
with recontamination
Deliberation request
sent to all stuck robots
if the deliberation fails
Deliberation request with recontamination
Waiting for
in progress
No deliberation
Deliberation request without recontamination
state 2
state 1
state 6
state 7
state 3
stuck robots
deliberation results
Acknowledge "end of exploration task"
state5
Acknoledgement of
the best deliberation result
Acknowledge the assistance task end
sent to all idle robots
Deliberation request without recontamination
state 8
state 4
Waiting for the first ACK
"end of task"
Role request
Choice of the assistant
sent to all guards
Waiting for guards
deliberation results
Failure
the best result execution
Waiting for the end of
extra robot added
to acknowledge the end of its current task
Waiting for idle robots
deliberation results
One more robot needed
the best deliberation result
the best deliberation result
Acknoledgement of
No solution found
Acknoledgement of
Request the explorer
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