We envisage a multi robotic scenario where several robots are in ambiguity about their states and require help of other robots to overcome their ambiguity. In such a scenario the method presented here moves the robots to locations where probability of eliminating several ambiguous states among multiple robots is a maximum. There are two essential aspects to this problem. In the first aspect all robots move to their best frontiers from their current hypothesis state. The best frontiers are those that have the highest probability of achieving a unique hypothesis if the robots were to arrive there.  In the second aspect robots that do not have any ambiguity about their state are dispatched to locations where they can assist a maximum of robots to overcome their ambiguity.  Ambiguity here is used in the sense of more than one hypothesis of a robot�s state. The method presented has been tested in both simulation and real-time on robots and its efficacy verified.

The picture shows two robots in an environment studded with cartons. Figure2 shows the hypotheses states corresponding to Figure1. Figure3 shows the robots detecting each other through IR transceivers upon nearing the frontiers. Figure4 shows the hypotheses states corresponding to figure3 with each robot having now singularized to a unique state.