Efficient Spatial Coordination for Multi-Robot Exploration

In this study, we introduce an efficient approach for spatial coordination in cooperative robotics using Unmanned Ground Vehicles (UGV) and Unmanned Aerial Vehicles (UAV). The approach involves distributing mathematical calculations among three roles: a central robot, an upper robot, and multiple surrounding robots. To maintain the desired parametric formation, we propose a specific control law based on the linear and angular velocity of the central robot, enabling dynamic formation adjustments for efficient exploration. Our strategy employs visual localization with ArUco markers and artificial potential fields for navigation. We present experimental results utilizing Robot Operating System (ROS) and OpenCV.