Distributed Pursuit-Evasion without Mapping or Global Localization via Local Frontiers

ImageThese videos show a group of mobile robots (real and simulated ones) while clearing an environment in a decentralized way without using neither global map nor a global localization system. The robots have limited-range communication and perception.

The video show an implementation of the clearing (pursuit-evasion) framework proposed in [1] and [2]

See also the pursuit-evasion page for an overview on the topic.