Decentralized multi-robot exploration under low-bandwidth communications

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Decentralized multi-robot exploration under low-bandwidth communications

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Decentralized multi-robot exploration under low-bandwidth communications

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

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

2025

Kód důvěrnosti údajů

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

Název periodika

Autonomous Robots

ISSN

0929-5593

e-ISSN

1573-7527

Svazek periodika

50

Číslo periodika v rámci svazku

1

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

27

Strana od-do

1-27

Kód UT WoS článku

001650833100001

EID výsledku v databázi Scopus

2-s2.0-105026121836