Communication-Constrained Multi-Robot Exploration with Intermittent Rendezvous Article Swipe
Alysson Ribeiro da Silva
,
Luiz Chaimowicz
,
Vijay Kumar
,
Thales Costa Silva
,
Ani Hsieh
·
YOU?
·
· 2023
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2309.13494
YOU?
·
· 2023
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2309.13494
Communication constraints can significantly impact robots' ability to share information, coordinate their movements, and synchronize their actions, thus limiting coordination in Multi-Robot Exploration (MRE) applications. In this work, we address these challenges by modeling the MRE application as a DEC-POMDP and designing a joint policy that follows a rendezvous plan. This policy allows robots to explore unknown environments while intermittently sharing maps opportunistically or at rendezvous locations without being constrained by joint path optimizations. To generate the rendezvous plan, robots represent the MRE task as an instance of the Job Shop Scheduling Problem (JSSP) and minimize JSSP metrics. They aim to reduce waiting times and increase connectivity, which correlates to the DEC-POMDP rewards and time to complete the task. Our simulation results suggest that our method is more efficient than using relays or maintaining intermittent communication with a base station, being a suitable approach for Multi-Robot Exploration. We developed a proof-of-concept using the Robot Operating System (ROS) that is available at: https://github.com/multirobotplayground/ROS-Noetic-Multi-robot-Sandbox.
Related Topics
Concepts
Rendezvous
Robot
Computer science
Relay
Real-time computing
Scheduling (production processes)
Base station
Distributed computing
Telecommunications network
Computer network
Simulation
Artificial intelligence
Engineering
Physics
Quantum mechanics
Operations management
Power (physics)
Aerospace engineering
Spacecraft
Metadata
- Type
- preprint
- Language
- en
- Landing Page
- http://arxiv.org/abs/2309.13494
- https://arxiv.org/pdf/2309.13494
- OA Status
- green
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4387186507
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W4387186507Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.48550/arxiv.2309.13494Digital Object Identifier
- Title
-
Communication-Constrained Multi-Robot Exploration with Intermittent RendezvousWork title
- Type
-
preprintOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2023Year of publication
- Publication date
-
2023-09-23Full publication date if available
- Authors
-
Alysson Ribeiro da Silva, Luiz Chaimowicz, Vijay Kumar, Thales Costa Silva, Ani HsiehList of authors in order
- Landing page
-
https://arxiv.org/abs/2309.13494Publisher landing page
- PDF URL
-
https://arxiv.org/pdf/2309.13494Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
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https://arxiv.org/pdf/2309.13494Direct OA link when available
- Concepts
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Rendezvous, Robot, Computer science, Relay, Real-time computing, Scheduling (production processes), Base station, Distributed computing, Telecommunications network, Computer network, Simulation, Artificial intelligence, Engineering, Physics, Quantum mechanics, Operations management, Power (physics), Aerospace engineering, SpacecraftTop concepts (fields/topics) attached by OpenAlex
- Cited by
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0Total citation count in OpenAlex
- Related works (count)
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10Other works algorithmically related by OpenAlex
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| abstract_inverted_index.suggest | 122 |
| abstract_inverted_index.unknown | 56 |
| abstract_inverted_index.waiting | 102 |
| abstract_inverted_index.without | 67 |
| abstract_inverted_index.actions, | 16 |
| abstract_inverted_index.approach | 143 |
| abstract_inverted_index.complete | 116 |
| abstract_inverted_index.generate | 75 |
| abstract_inverted_index.increase | 105 |
| abstract_inverted_index.instance | 86 |
| abstract_inverted_index.limiting | 18 |
| abstract_inverted_index.metrics. | 97 |
| abstract_inverted_index.minimize | 95 |
| abstract_inverted_index.modeling | 33 |
| abstract_inverted_index.station, | 139 |
| abstract_inverted_index.suitable | 142 |
| abstract_inverted_index.DEC-POMDP | 39, 111 |
| abstract_inverted_index.Operating | 154 |
| abstract_inverted_index.available | 159 |
| abstract_inverted_index.designing | 41 |
| abstract_inverted_index.developed | 148 |
| abstract_inverted_index.efficient | 128 |
| abstract_inverted_index.locations | 66 |
| abstract_inverted_index.represent | 80 |
| abstract_inverted_index.Scheduling | 91 |
| abstract_inverted_index.challenges | 31 |
| abstract_inverted_index.coordinate | 10 |
| abstract_inverted_index.correlates | 108 |
| abstract_inverted_index.movements, | 12 |
| abstract_inverted_index.rendezvous | 48, 65, 77 |
| abstract_inverted_index.simulation | 120 |
| abstract_inverted_index.Exploration | 22 |
| abstract_inverted_index.Multi-Robot | 21, 145 |
| abstract_inverted_index.application | 36 |
| abstract_inverted_index.constrained | 69 |
| abstract_inverted_index.constraints | 1 |
| abstract_inverted_index.maintaining | 133 |
| abstract_inverted_index.synchronize | 14 |
| abstract_inverted_index.Exploration. | 146 |
| abstract_inverted_index.coordination | 19 |
| abstract_inverted_index.environments | 57 |
| abstract_inverted_index.information, | 9 |
| abstract_inverted_index.intermittent | 134 |
| abstract_inverted_index.Communication | 0 |
| abstract_inverted_index.applications. | 24 |
| abstract_inverted_index.communication | 135 |
| abstract_inverted_index.connectivity, | 106 |
| abstract_inverted_index.significantly | 3 |
| abstract_inverted_index.intermittently | 59 |
| abstract_inverted_index.optimizations. | 73 |
| abstract_inverted_index.proof-of-concept | 150 |
| abstract_inverted_index.opportunistically | 62 |
| abstract_inverted_index.https://github.com/multirobotplayground/ROS-Noetic-Multi-robot-Sandbox. | 161 |
| cited_by_percentile_year | |
| countries_distinct_count | 0 |
| institutions_distinct_count | 5 |
| sustainable_development_goals[0].id | https://metadata.un.org/sdg/11 |
| sustainable_development_goals[0].score | 0.75 |
| sustainable_development_goals[0].display_name | Sustainable cities and communities |
| citation_normalized_percentile |