Abstract

The autonomous multi-robot exploration and coverage is a well-addressed problem in the field of robotics. Exploration and coverage is the task of guiding robots in such a way that they cover the environment in an efficient and effective manner. The Behaviour-based system and Role-based system for multi-robot control is popular in autonomous multi- robot exploration, because they are robust to the dynamic interactions inherent in any multi-robot systems. In this paper, the existing Multi-Robot exploration and coverage systems under the characterization of behaviour-based and role-based are identified and their strengths and shortcomings discussed. Existing solutions to this problem differ primarily by the type of coordination that exists between the robots. The level of coordination depends on the type of communication the robots are expected to share. Key words: autonomous mobile multi-robot, behaviour-based exploration, role-based exploration, navigation behaviour, path- planning behaviour.