Frontier-I: an autonomous mobile robot for multi-robot tasks

In order to facilitate the multi-robot coordination and cooperation in dynamic or unconstructive environments, this paper designs and implements an autonomous mobile robot Frontier-I, which is applicable to a variety of multi-robot tasks. System architecture, hardware configuration as well as planning and control approaches are introduced in detail. Two case studies on multi-robot formation march and soccer robot competition are conducted to demonstrate individual and team autonomies of the robot. The experimental results show the validity of our system design.