Improving multirobot, cooperative search via local target queues

Multirobot coordination techniques range from sharing state and intent information to explicit coordination strategies. The choice of cooperation strategy can affect task performance and resource utilization. This paper investigates the use of local search queues, rather than globally shared search queues. This work shows this change improves search in terms of interference and communications loads, two key factors in multirobot search, without significantly impacting time-to-search and coverage metrics.