MRXT: The Multi-Robot Exploration Tool

Abstract

This paper presents the multi-robot eXploration tool (MRXT) [Freely available at http://arvc.umh.es/mrxt], a new mobile robotics simulation tool whose aim is to experiment and understand some well-known multi-robot exploration algorithms. The application is designed to test and compare different multi-robot exploration algorithms as well as SLAM techniques. The application includes a wide range of exploration algorithms that differ in their level of coordination and integration with the SLAM algorithm. The tool is focused on describing the exploration problem in a simple manner so that it is useful for educational or research purposes. In comparison with other simulation tools, MRXT is the first application completely focused on the exploration problem, so it can be easily employed to understand interactively many of the issues regarding this general problem in mobile robotics. Furthermore, the paper describes some examples using the tool.

A simulator for swarm AUVs acoustic communication networking

“…Stage is a scalability simulator for swarm operations [6]. MRXT focuses on exploration problems with a team of robots [7]. Finally, some simulators have been developed based on those currently available, such as RoboNetSim [8], based on NS3.…”