Experimental Implementation of an Algorithm for Cooperative Searching of Target Sites

This paper discusses a greedy decentralized cooperative search algorithm and its implementation and results on the Caltech Multi-Vehicle Wireless Testbed (MVWT). The algorithm uses inter-vehicle communication as a performance accelerator and is robust against vehicle loss. Testbed vehicles search a list of spatial targets. Two different types of vehicles are used for this experiment: the Steelebot, a first order control vehicle that drives itself with wheels, and the Kelly, a second order control vehicle that propels itself with fans.

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