Communication-Constrained Multi-Robot Exploration with Intermittent Rendezvous
arxiv(2023)
摘要
This paper deals with the Multi-robot Exploration (MRE) under communication
constraints problem. We propose a novel intermittent rendezvous method that
allows robots to explore an unknown environment while sharing maps at
rendezvous locations through agreements. In our method, robots update the
agreements to spread the rendezvous locations during the exploration and
prioritize exploring unknown areas near them. To generate the agreements
automatically, we reduced the MRE to instances of the Job Shop Scheduling
Problem (JSSP) and ensured intermittent communication through a temporal
connectivity graph. We evaluate our method in simulation in various virtual
urban environments and a Gazebo simulation using the Robot Operating System
(ROS). Our results suggest that our method can be better than using relays or
maintaining intermittent communication with a base station since we can explore
faster without additional hardware to create a relay network.
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