Decentralized Topological Mapping for Multi-robot Autonomous Exploration under Low-bandwidth Communication

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F21%3A00354965" target="_blank" >RIV/68407700:21230/21:00354965 - isvavai.cz</a>

Result on the web

<a href="https://doi.org/10.1109/ECMR50962.2021.9568824" target="_blank" >https://doi.org/10.1109/ECMR50962.2021.9568824</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/ECMR50962.2021.9568824" target="_blank" >10.1109/ECMR50962.2021.9568824</a>

Result language

angličtina

Original language name

Decentralized Topological Mapping for Multi-robot Autonomous Exploration under Low-bandwidth Communication

Original language description

This paper concerns a mapping framework for multi-robot exploration of underground environments with only very limited communication available. We focus on multi-robot map building and coordination to explore large areas with real-time planning to long distances. The considered communication can broadcast only 100 B/s, and therefore, we propose coordination planning using two terrain models. The first model is a dense 3D map built by each robot individually to identify explorable places and generate detailed plans to avoid un-traversable areas. The second model is a global topological map built in a decentralized manner by exchanging tiny 12 B packets between the robots. The feasibility of the proposed approach has been verified in the real-world autonomous exploration mission and various multi-robot scenarios inspired by a virtual cave circuit of the DARPA Subterranean Challenge while adapting two different decentralized coordination strategies.

Czech name

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Czech description

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Type

D - Article in proceedings

CEP classification

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OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

Result was created during the realization of more than one project. More information in the Projects tab.

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2021

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

Proceedings of the 10th European Conference on Mobile Robots

ISBN

978-1-6654-1213-1

ISSN

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e-ISSN

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Number of pages

7

Pages from-to

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Publisher name

IEEE

Place of publication

Brussels

Event location

Bonn

Event date

Aug 31, 2021

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

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