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An Optimal Transport (OT)-based decentralized collaborative multi-robotexploration strategy is proposed in this paper. This method is to achieve anefficient exploration with a predefined priority in the given domain. In thiscontext, the efficiency indicates how a team of robots (agents) cover thedomain reflecting the corresponding priority map (or degrees of importance) inthe domain. The decentralized exploration implies that each agent carries outtheir exploration task independently in the absence of any supervisoryagent/computer. When an agent encounters another agent within a communicationrange, each agent receives the information about which areas are alreadycovered by other agents, yielding a collaborative exploration. The OT theory isemployed to quantify the difference between the distribution formed by therobot trajectories and the given reference spatial distribution indicating thepriority. A computationally feasible way is developed to measure theperformance of the proposed exploration scheme. Further, the formal algorithmis provided for the efficient, decentralized, and collaborative explorationplan. Simulation results are presented to validate the proposed methods.

Efficient, Decentralized, and Collaborative Multi-Robot Exploration using Optimal Transport Theory