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This repository presents some of the simulations employed during the development of my masters thesis titled "Control of Heterogeneous Robot Networks for Assistance in Search and Rescue Tasks" the full document is available atResearchGate and atNational University of Colombia repository

The folderConvex presents the Heterogeneous DisCoverage exploration algorithm in a very simple convex environment. The fileFullSim.m generates 4 interest videos that correspond to:

• The map perspective of the robot team (Map.avi)
• The Voronoi cells and connectivity perspective (VoronoiCenter.avi)
• The exploration frontier in time (Frontier.avi)
• The Minimum time required for any robot to arrive to each position on the map based on the Flooding distance (MinTime.avi)The execution of the full simulation should take a couple of minutes depending on the PC specifications, however in the subfolderVideos contains preloaded samples.

The folderNon Convex presents the Heterogeneous DisCoverage exploration introduced inExploration with Heterogeneous Robots Networks for Search and Rescue algorithm in a simple Non-convex environment. The fileFullSim.m generates the same videos (but the frontier perspective) as the Convex case and also contains preloaded samples.

The folderTaskAllocation presents the general workflow of the algoriths presented including the exploration of the environment, the automatic task allocation during the mission and the corresponding execution in a non-convex environment with certain amount of different victims of different types (true victim capable to move, true victim unable to move and false detection). The fileFullSim.m generates the same videos as the Non-Convex case and also contains preloaded samples. However in this case, in the Map perspective and in the Voronoi cells perspective show the current position of the victims and their type (Blue, green and yellow respectively).