Multi Robot Surveillance and Planning in Limited Communication Environments

Multi Robot Surveillance and Planning in Limited Communication Environments

Inna Kedege, V. (Student TU Delft)
Czechowski, A.T. (TU Delft Interactive Intelligence)
Stellingwerff, Ludo (Almende B.V.)
Oliehoek, F.A. (TU Delft Interactive Intelligence)

Rocha, Ana Paula (editor)
Steels, Luc (editor)
van den Herik, Jaap (editor)

2022

Distributed robots that survey and assist with search & rescue operations usually deal with unknown environments with limited communication. This paper focuses on distributed & cooperative multi-robot area coverage strategies of unknown environments, having constrained communication. Due to restricted communication there is performance loss for the multi-robot team, in terms of increased number of steps to cover an area. From simulation results, it is shown that enabling partial communication amongst robots can recover a significant amount of performance by decreasing the number of steps required for area coverage. Additionally it is found that partially communicating robots that predict the paths of peers do not perform significantly different from robots that are only partially communicating. This is found due to predictions spreading the robots away from one another, which reduces meeting times and instances of inter-robot data sharing.

Agents
Autonomous Systems
Artificial Intelligence
Multi-agent Systems
Robotic Exploration
Planning

http://resolver.tudelft.nl/uuid:0965c085-4efc-4720-941b-51fdf31a9b3a

https://doi.org/10.5220/0010775500003116

978-989-758-547-0

Proceedings of the 14th International Conference on Agents and Artificial Intelligence

14th International Conference on Agents and Artificial Intelligence, 2022-02-03 → 2022-02-05, Online event

Institutional Repository

conference paper

© 2022 V. Inna Kedege, A.T. Czechowski, Ludo Stellingwerff, F.A. Oliehoek