A distributed algorithm for grid-based search by a multi-robot system

This paper presents a novel distributed algorithm for search of an unknown area by a group of mobile robots. The proposed algorithm utilizes a triangular grid pattern to search a region for a number of targets, so that guarantees complete search of the whole area. The algorithm is based only on the information about the nearest neighbours of each robot. The monitoring region is of an arbitrary shape and not known to the robots a priori. A mathematically rigorous proof of convergence with probability 1 of the presented algorithm is given and effectiveness of the algorithm is represented through computer simulations.