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Information Rich Voxel Grid for Use in Heterogeneous Multi-Agent Robotics

Balding, Steven; Gning, Amadou; Cheng, Yongqiang; Iqbal, Jamshed


Steven Balding

Amadou Gning

Yongqiang Cheng


Robotic agents are now ubiquitous in both home and work environments; moreover, the degree of task complexity they can undertake is also increasing exponentially. Now that advanced robotic agents are commonplace, the question for utilisation becomes how to enable collaboration of these agents, and indeed, many have considered this over the last decade. If we can leverage the heterogeneous capabilities of multiple agents, not only can we achieve more complex tasks, but we can better position the agents in more chaotic environments and compensate for lacking systems in less sophisticated agents. Environments such as search and rescue, agriculture, autonomous vehicles, and robotic maintenance are just a few examples of complex domains that can leverage collaborative robotics. If the use of a robotic agent is fruitful, the question should be: How can we provide a world state and environment mapping, combined with a communication method, that will allow these robotic agents to freely communicate? Moreover, how can this be decentralised such that agents can be introduced to new and existing environments already understood by other agents? The key problem that is faced is the communication method; however, when looking deeper we also need to consider how the change of an environment is mapped while considering that there are multiple differing sensors. To this end, we present the voxel grid approach for use in a decentralised robotic colony. To validate this, results are presented to show how the single-agent and multiagent systems compare.


Balding, S., Gning, A., Cheng, Y., & Iqbal, J. (2023). Information Rich Voxel Grid for Use in Heterogeneous Multi-Agent Robotics. Applied Sciences, 13(8), Article 5065.

Journal Article Type Article
Acceptance Date Apr 12, 2023
Online Publication Date Apr 18, 2023
Publication Date Apr 2, 2023
Deposit Date May 12, 2023
Publicly Available Date May 15, 2023
Journal Applied Sciences (Switzerland)
Electronic ISSN 2076-3417
Publisher MDPI
Peer Reviewed Peer Reviewed
Volume 13
Issue 8
Article Number 5065
Keywords SLAM; Robotic colony; Robotic communication; Decentralised robotic communication; Heterogeneous robotic vision; Voxel grid; Environment mapping
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Copyright Statement
© 2023 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (

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