Viseras, Alberto und Xu, Zhe und Merino, Luis (2018) Distributed Multi-Robot Cooperation for Information Gathering under Communication Constraints. In: Proceedings - IEEE International Conference on Robotics and Automation. International Conference on Robotics and Automation (ICRA) 2018, 2018-05-21 - 2018-05-25, Brisbane, Australia. doi: 10.1109/icra.2018.8460846. ISBN 9781538630815. ISSN 2577-087X.
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Kurzfassung
Many recent works have proposed algorithms for information gathering that benefit from multi-robot cooperation. However, most algorithms either employ discretization of the state and action spaces, which makes them computationally intractable for robotic systems with complex dynamics; or cannot deal with inter-robot restrictions like e.g. communication constraints. This paper presents an approach for multi-robot information gathering that tackles the two aforementioned issues. To this end we propose an algorithm that combines in an innovative manner Gaussian processes (GPs) to model the physical process of interest, RRT planners to plan paths in a continuous domain, and a distributed decision-making algorithm to achieve multi-robot cooperation. Specifically, we employ the Max-sum algorithm for distributed multi-robot cooperation by defining an information-theoretic utility function together with a path clustering approach. This function maximizes information gathering, subject to inter-robot communication constraints. We validate the proposed approach in simulations, and in a field experiment where three quadcopters explore a simulated wind field. Results demonstrate the effectiveness of the approach.
elib-URL des Eintrags: | https://elib.dlr.de/120109/ | ||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Poster) | ||||||||||||||||
Titel: | Distributed Multi-Robot Cooperation for Information Gathering under Communication Constraints | ||||||||||||||||
Autoren: |
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Datum: | Mai 2018 | ||||||||||||||||
Erschienen in: | Proceedings - IEEE International Conference on Robotics and Automation | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Ja | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||
DOI: | 10.1109/icra.2018.8460846 | ||||||||||||||||
ISSN: | 2577-087X | ||||||||||||||||
ISBN: | 9781538630815 | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | Robotics; Swarm exploration; Multi-robot systems; Machine learning; Information gathering | ||||||||||||||||
Veranstaltungstitel: | International Conference on Robotics and Automation (ICRA) 2018 | ||||||||||||||||
Veranstaltungsort: | Brisbane, Australia | ||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
Veranstaltungsbeginn: | 21 Mai 2018 | ||||||||||||||||
Veranstaltungsende: | 25 Mai 2018 | ||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||
HGF - Programm: | Verkehr | ||||||||||||||||
HGF - Programmthema: | Verkehrsmanagement (alt) | ||||||||||||||||
DLR - Schwerpunkt: | Verkehr | ||||||||||||||||
DLR - Forschungsgebiet: | V VM - Verkehrsmanagement | ||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | V - Vabene++ (alt) | ||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||
Institute & Einrichtungen: | Institut für Kommunikation und Navigation > Nachrichtensysteme | ||||||||||||||||
Hinterlegt von: | Viseras Ruiz, Alberto | ||||||||||||||||
Hinterlegt am: | 19 Jun 2018 14:33 | ||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:24 |
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