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Decentralized Multi-Agent Exploration with Online-Learning of Gaussian Processes

Viseras, Alberto and Wiedemann, Thomas and Manss, Christoph and Magel, Lukas and Müller, Joachim and Shutin, Dmitriy and Merino, Luis (2016) Decentralized Multi-Agent Exploration with Online-Learning of Gaussian Processes. In: IEEE International Conference on Robotics and Automation ICRA. IEEE International Conference on Robotics and Automation (ICRA), 16-21 May 2016, Stockholm, Sweden.

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Abstract

Exploration is a crucial problem in safety of life applications, such as search and rescue missions. Gaussian processes constitute an interesting underlying data model that leverages the spatial correlations of the process to be explored to reduce the required sampling of data. Furthermore, multiagent approaches offer well known advantages for exploration. Previous decentralized multi-agent exploration algorithms that use Gaussian processes as underlying data model, have only been validated through simulations. However, the implementation of an exploration algorithm brings difficulties that were not tackle yet. In this work, we propose an exploration algorithm that deals with the following challenges: (i) which information to transmit to achieve multi-agent coordination; (ii) how to implement a light-weight collision avoidance; (iii) how to learn the data’s model without prior information. We validate our algorithm with two experiments employing real robots. First, we explore the magnetic field intensity with a ground-based robot. Second, two quadcopters equipped with an ultrasound sensor explore a terrain profile. We show that our algorithm outperforms a meander and a random trajectory, as well as we are able to learn the data’s model online while exploring.

Item URL in elib:https://elib.dlr.de/118901/
Document Type:Conference or Workshop Item (Keynote)
Title:Decentralized Multi-Agent Exploration with Online-Learning of Gaussian Processes
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Viseras, AlbertoAlberto.ViserasRuiz (at) dlr.deUNSPECIFIED
Wiedemann, ThomasThomas.Wiedemann (at) dlr.deUNSPECIFIED
Manss, Christophchistoph.manss (at) dlr.deUNSPECIFIED
Magel, LukasLukas.Magel (at) dlr.deUNSPECIFIED
Müller, Joachimjoachim.mueller (at) dlr.deUNSPECIFIED
Shutin, DmitriyDmitriy.Shutin (at) dlr.deUNSPECIFIED
Merino, Luislmercab (at) upo.esUNSPECIFIED
Date:2016
Journal or Publication Title:IEEE International Conference on Robotics and Automation ICRA
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Status:Published
Keywords:Multi-Robot, Gaussian processes, information gathering, exploration
Event Title:IEEE International Conference on Robotics and Automation (ICRA)
Event Location:Stockholm, Sweden
Event Type:international Conference
Event Dates:16-21 May 2016
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Traffic Management (old)
DLR - Research area:Transport
DLR - Program:V VM - Verkehrsmanagement
DLR - Research theme (Project):V - Vabene++ (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Viseras Ruiz, Alberto
Deposited On:09 Feb 2018 13:30
Last Modified:31 Jul 2019 20:16

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