We present the design and implementation of a decentralised, heterogeneous multi-robot system for performing intelligence, surveillance and reconnaissance (ISR) in an unknown environment. The team consists of functionally specialised robots that gather information and others that perform a mission-specific task, and is coordinated to achieve simultaneous exploration and exploitation in the unknown environment. We present a practical implementation of such a system, including decentralised inter-robot localisation, mapping, data fusion and coordination. The system is demonstrated in an efficient distributed simulation. We also describe an UAS platform for hardware experiments, and the ongoing progress.

翻译：我们提出在未知环境中进行情报、监视和侦察的分散化多机器人多机器人系统的设计和实施,由功能专用机器人组成,收集信息,其他执行特定任务,协调在未知环境中同时进行勘探和开发,并实际实施这种系统,包括分散化的跨机器人地方化、绘图、数据聚合和协调,系统通过高效分布式模拟展示,我们还描述了UAS硬件实验平台和当前进展。