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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

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

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

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

Rok uplatnění

2021

Kód důvěrnosti údajů

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

Název statě ve sborníku

Proceedings of the 10th European Conference on Mobile Robots

ISBN

978-1-6654-1213-1

ISSN

—

e-ISSN

—

Počet stran výsledku

7

Strana od-do

—

Název nakladatele

IEEE

Místo vydání

Brussels

Místo konání akce

Bonn

Datum konání akce

31. 8. 2021

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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