Multi-robot Exploration and Mapping Based on the Subdefinite Models

In this work we consider an environment exploration and mapping task for a group of heterogeneous mobile robots. We propose a range of methods tied together in a hierarchical two-level control system. The distinguished features of the proposed system are the use of subdefinite models for robot localization as well as an original mechanism for local interaction. We present both theoretical and experimental results. On the experimental side of the study we conduct both simulation experiments as well as a real robotic swarm system investigation.