Decentralized multi-robot exploration under low-bandwidth communications

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F25%3A00388319" target="_blank" >RIV/68407700:21230/25:00388319 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1007/s10514-025-10234-3" target="_blank" >https://doi.org/10.1007/s10514-025-10234-3</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/s10514-025-10234-3" target="_blank" >10.1007/s10514-025-10234-3</a>

Result language
angličtina
Original language name
Decentralized multi-robot exploration under low-bandwidth communications
Original language description
In this paper, we address the problem of coordinating multiple robots to explore large-scale underground areas covered with low-bandwidth communication. Based on the evaluation of existing coordination methods, we found that well-performing methods rely on exchanging significant amounts of data, including maps. Such extensive data exchange becomes infeasible using only low-bandwidth communication, which is suitable for underground environments. Therefore, we propose a coordination method that satisfies low-bandwidth constraints by sharing only the robot’s positions. The proposed method employs a fully decentralized principle called Cross-rank that computes how to distribute robots uniformly at intersections and subsequently orders exploration waypoints based on the traveling salesman problem formulation. The proposed principle has been evaluated based on exploration time, traveled distance, and coverage in five large-scale simulated subterranean environments and a real-world deployment with three quadruped robots. The results suggest that the proposed approach provides a suitable tradeoff between the required communication bandwidth and the time needed for exploration.
Czech name
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Czech description
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Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control

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
2025
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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