Three-Dimensional Multi-Agent Foraging Strategy Based on Local Interaction

In this paper, we consider a multi-agent foraging problem in which multiple autonomous agents find resources (called pucks) bounded workspace and carry the found to designated location called base. We case where move unknown 3D with many obstacles. This article describes based on local interaction, does not rely global localization of an agent. propose strategy following two steps. The first step is detect all pucks inside cluttered such that every puck detected provably complete manner. next generate path from base puck, collect return them Because agent cannot use localization, each depends interaction bring article, used guiding reach it To best our knowledge, novel letting perform puck-carrying while relying addition, proposed search detecting workspace. MATLAB simulations demonstrate outperforms alternatives