Fleet size of robots for rescue missions

How to solve the problem of exploration and map updating in disaster areas for survivors and rescue missions is a big challenge for research groups involved in this line. A nonlinear polynomial is described to determine the optimal fleet size of robots using the spatial characteristics of the building to explore. This spatial characteristics are extracted using Voronoi and Skeleton diagrams. The results obtained with this non-linear polynomial are tested simulating the behaviour of a robots team in different maps.