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. 2021 Apr 16;102(1):10. doi: 10.1007/s10846-021-01378-2

Multi-Robot Coordination Analysis, Taxonomy, Challenges and Future Scope

Janardan Kumar Verma 1, Virender Ranga 1,✉
PMCID: PMC8051283  PMID: 33879973

Abstract

Recently, Multi-Robot Systems (MRS) have attained considerable recognition because of their efficiency and applicability in different types of real-life applications. This paper provides a comprehensive research study on MRS coordination, starting with the basic terminology, categorization, application domains, and finally, give a summary and insights on the proposed coordination approaches for each application domain. We have done an extensive study on recent contributions in this research area in order to identify the strengths, limitations, and open research issues, and also highlighted the scope for future research. Further, we have examined a series of MRS state-of-the-art parameters that affect MRS coordination and, thus, the efficiency of MRS, like communication mechanism, planning strategy, control architecture, scalability, and decision-making. We have proposed a new taxonomy to classify various coordination approaches of MRS based on the six broad dimensions. We have also analyzed that how coordination can be achieved and improved in two fundamental problems, i.e., multi-robot motion planning, and task planning, and in various application domains of MRS such as exploration, object transport, target tracking, etc.

Keywords: Multi-robot system, Coordination, Cooperation, Multi-robot task planning, Multi-robot motion planning, Exploration and mapping, Object transport and manipulation, Target observation

Acknowledgments

Availability of Data and Material

No such data.

Code Availability

No software application and custom code is used.

Biographies

Janardan Kumar Verma

received M.Tech degree in Computer Engineering in 2014 from National Institute of Technology, Kurukshetra, India. Currently he is pursuing Ph.D. at the Department of Computer Engineering, National Institute of Technology, Kurukshetra, India. His current research interests include Mobile Sensor Networks, Multi-robot System, Autonomous vehicles, and Artificial Intelligence.

Virender Ranga

has received his Ph.D. degree in 2016 from Computer Engineering Department of National Institute of Technology, Kurukshetra, Haryana, India. Presently, he is Assistant Professor (Grade-I) in the Computer Engineering Department since 2008. He has been conferred by Young Faculty Award in 2016 for his excellent contributions in the field of Computer Communications. He is an active reviewer of many reputed journals of IEEE, Springer, Elsevier, Talyor & Francis, Wiley and InderScience. His research area includes Wireless Sensor and Adhoc Networks, IoT, Network Partition Recovery.

Authors’ Contributions

Janardan Kumar Verma performed the literature search, analysis, and wrote the manuscript under the supervision of Virender Ranga, who had the idea for the article and revised the work.

Funding

This work is supported by University Grant Commission, Government of India [grant number 3525/(OBC)(NET-NOV 2017)].

Declarations

Competing Interests

The authors have no financial or proprietary interests in any material discussed in this article.

Ethics Approval

Not applicable.

Consent to Participate

Not applicable.

Consent for Publication

Not applicable.

Footnotes

Publisher’s Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Contributor Information

Janardan Kumar Verma, Email: janardan18@gmail.com.

Virender Ranga, Email: virender.ranga@nitkkr.ac.in.

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