Package Summary

This is a multi-robot version of the explore package.


The explore_multirobot package is a multi-robot version of the explore package. It can additionally subscribe to external topics such as map and goal, and publish messages about distance traveled and estimated cost.



explore_multirobot provides support for multi-robot systems.

Subscribed Topics

map (nav_msgs/OccupancyGrid)
  • External map.
goal (move_base_msgs/MoveBaseGoal)
  • External goal.

Published Topics

~distance_traveled (std_msgs/Float64)
  • Distance traveled in real-time of the robot.
~estimated_cost (std_msgs/Float64)
  • Estimated cost for task allocation (currently using Euclidean distance).


~inscribed_scale (double, default: 1.0)
  • How big is enough the frontier for the robot to fit through.

Please refer to the following paper to retrieve more information on the node:

author = {Zhi Yan and Luc Fabresse and Jannik Laval and Noury Bouraqadi},
title = {Team Size Optimization for Multi-robot Exploration},
booktitle = {In Proceedings of the 4th International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2014)},
pages = {438--449},
address = {Bergamo, Italy},
month = {October},
year = {2014}


Zhi Yan, Luc Fabresse, Jannik Laval, and Noury Bouraqadi

Ecole des Mines de Douai, 59508 Douai, France

Wiki: explore_multirobot (last edited 2015-02-12 12:18:25 by ZhiYan)