Abstract:In this study, a fire-fighting scenario in an office environment wherein three different nonholonomic differential-drive mobile robots are used is considered as a case study. The 2D configuration space of the office environment is divided into grid cells by using the method of "Occupancy Grid Map" such that each grid cell is associated with each interrelated node. Each robot constructs a reachability three by using these nodes and Breadth-First Search (BFS) algorithm. The back-tracking algorithm is used to obt… Show more
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