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Distributed Multi-Robot Cooperation for Information Gathering under Communication Constraints

Viseras, Alberto and Xu, Zhe and 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, 21.-25. May 2018, Brisbane, Australia.

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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.

Item URL in elib:https://elib.dlr.de/120109/
Document Type:Conference or Workshop Item (Poster)
Title:Distributed Multi-Robot Cooperation for Information Gathering under Communication Constraints
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Viseras, AlbertoAlberto.ViserasRuiz (at) dlr.deUNSPECIFIED
Xu, Zhez.xu (at) acfr.usyd.edu.auUNSPECIFIED
Merino, Luislmercab (at) upo.esUNSPECIFIED
Date:May 2018
Journal or Publication Title:Proceedings - IEEE International Conference on Robotics and Automation
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Keywords:Robotics; Swarm exploration; Multi-robot systems; Machine learning; Information gathering
Event Title:International Conference on Robotics and Automation (ICRA) 2018
Event Location:Brisbane, Australia
Event Type:international Conference
Event Dates:21.-25. May 2018
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:19 Jun 2018 14:33
Last Modified:31 Jul 2019 20:17

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