Method for adaptively role-selection in coordinated multi-robot search task and system thereof

Abstract

The present invention discloses a method for adaptively role-selection in coordinated multi-robot search task and system thereof, comprising: defining a role action space as two discrete values: [explore, cover]; acquiring and inputting local perception information oand joint perception information jointo a role policy, and outputting a role action ρ; wherein, the local perception information comprises an obstacle map, an explored map, a covered map, and a position map; and, the joint perception information comprises a merged explored map and a merged covered map; inputting the local perception information oand the output role action ρinto a primitive policy, and outputting a primitive action aof robot to interact with the environment; then, a robot is controlled to execute corresponding output primitive action aaccording to received specific role action ρ.