Advertisement

Online Update of Communication Maps for Exploring Multirobot Systems Under Connectivity Constraints

  • Francesco AmigoniEmail author
  • Jacopo Banfi
  • Nicola Basilico
  • Ioannis Rekleitis
  • Alberto Quattrini Li
Conference paper
Part of the Springer Proceedings in Advanced Robotics book series (SPAR, volume 9)

Abstract

Multirobot systems for exploring initially unknown environments are often subject to communication constraints, due to the limited range of their transmission devices and to mission requirements. In order to make decisions about where the robots should move, a communication map that encodes knowledge of the locations from which communication is possible is usually employed. Typically, simple line of sight or circle communication models (that are rather independent of the specific environment in which the exploration is carried out) are considered. In this paper, we make a step forward and present a multirobot system that learns and updates a communication map during the exploration mission. In particular, we propose methods to incrementally update vertices, corresponding to the locations visited by robots, and edges, corresponding to communication links, of a graph according to the measured power of radio-frequency signals and to the predictions made by a model based on Gaussian Processes. Experimental results obtained in simulation show that the proposed methods build and update rich communication maps specific for the environments being visited and that the availability of these maps can improve the exploration performance.

Keywords

Multirobot systems Exploration Communication 

References

  1. 1.
    Amigoni, F., Banfi, J., Basilico, N.: Multirobot exploration of communication-restricted environments: a survey. IEEE Intell. Syst. Mag. 32(6), 48–57 (2017)CrossRefGoogle Scholar
  2. 2.
    Andre, T., Bettstetter, C.: Collaboration in multi-robot exploration: To meet or not to meet? J. Intell. Robot Syst. 82, 325–337 (2016)CrossRefGoogle Scholar
  3. 3.
    Bahl, P., Padmanabhan, V.: Radar: an in-building RF-based user location and tracking system. Proc. INFOCOM. 2, 775–784 (2000)Google Scholar
  4. 4.
    Banfi, J., Quattrini Li, A., Basilico, N., Rekleitis, I., Amigoni, F.: Multirobot online construction of communication maps. In: Proceedings of ICRA, pp. 2577–2583 (2017)Google Scholar
  5. 5.
    Banfi, J., Quattrini Li, A., Rekleitis, I., Amigoni, F., Basilico, N.: Strategies for coordinated multirobot exploration with recurrent connectivity constraints. Auton. Robot 42(4), 875–894 (2017)CrossRefGoogle Scholar
  6. 6.
    Brass, P., Cabrera-Mora, F., Gasparri, A., Xiao, J.: Multirobot tree and graph exploration. IEEE Trans. Robot. 27(4), 707–717 (2011)CrossRefGoogle Scholar
  7. 7.
    Burgard, W., Moors, M., Stachniss, C., Schneider, F.: Coordinated multi-robot exploration. IEEE Trans. Robot 21(3), 376–386 (2005)CrossRefGoogle Scholar
  8. 8.
    Fox, D., Ko, J., Konolige, K., Limketkai, B., Schulz, D., Stewart, B.: Distributed multirobot exploration and mapping. P IEEE 94(7), 1325–1339 (2006)CrossRefGoogle Scholar
  9. 9.
    Heurtefeux, K., Valois, F.: Is RSSI a good choice for localization in wireless sensor network? In: Proceedings of AINA, pp. 732–739 (2012)Google Scholar
  10. 10.
    Hollinger, G., Singh, S.: Multirobot coordination with periodic connectivity: theory and experiments. IEEE Trans. Robot. 28(4), 967–973 (2012)CrossRefGoogle Scholar
  11. 11.
    Howard, A., Roy, N.: The robotics data set repository (Radish) (2003). http://radish.sourceforge.net/
  12. 12.
    Jensen, E., Lowmanstone, L., Gini, M.: Communication-restricted exploration for search teams. In: Proceedings of DARS, pp. 17–30 (2016)CrossRefGoogle Scholar
  13. 13.
    Mukhija, P., Krishna, K., Krishna, V.: A two phase recursive tree propagation based multi-robotic exploration framework with fixed base station constraint. In: Proceedings of IROS, pp. 4806–4811 (2010)Google Scholar
  14. 14.
    Pandey, R., Singh, A., Krishna, K.: Multi-robot exploration with communication requirement to a moving base station. In: Proceedings of CASE, pp. 823–828 (2012)Google Scholar
  15. 15.
    Pei, Y., Mutka, M.: Steiner traveler: Relay deployment for remote sensing in heterogeneous multi-robot exploration. In: Proceedings of ICRA, pp. 1551–1556 (2012)Google Scholar
  16. 16.
    Pei, Y., Mutka, M., Xi, N.: Connectivity and bandwidth-aware real-time exploration in mobile robot networks. Wirel. Commun. Mob. Comput. 13(9), 847–863 (2013)CrossRefGoogle Scholar
  17. 17.
    Penumarthi, P., Quattrini Li, A., Banfi, J., Basilico, N., Amigoni, F., O’Kane, J., Rekleitis, I., Nelakuditi, S.: Multirobot exploration for building communication maps with prior from communication models. In: Proceedings of MRS, pp. 90–96 (2017)Google Scholar
  18. 18.
    Quigley, M., Gerkey, B., Conley, K., Faust, J., Foote, T., Leibs, J., Berger, E., Wheeler, R., Ng, A.: ROS: an open-source robot operating system. In: ICRA Workshop on Open Source Software (2009)Google Scholar
  19. 19.
    Rasmussen, C., Williams, C.: Gaussian Processes for Machine Learning. MIT Press, Cambridge (2006)Google Scholar
  20. 20.
    Rooker, M., Birk, A.: Multi-robot exploration under the constraints of wireless networking. Control Eng. Pract. 15(4), 435–445 (2007)CrossRefGoogle Scholar
  21. 21.
    Spirin, V., Cameron, S.: Rendezvous through obstacles in multi-agent exploration. In: Proceedings of SSRR, pp. 1–6 (2014)Google Scholar
  22. 22.
    Spirin, V., de Hoog, J., Visser, A., Cameron, S.: MRESim, a multi-robot exploration simulator for the rescue simulation league. In: RoboCup 2014: Robot World Cup XVIII, pp. 106–117. Springer (2015)Google Scholar
  23. 23.
    Stump, E., Michal, N., Kumar, V., Isler, V.: Visibility-based deployment of robot formations for communication maintenance. In: Proceedings of ICRA, pp. 4498–4505 (2011)Google Scholar
  24. 24.
    Thrun, S., Burgard, W., Fox, D.: Probabilistic Robotics. MIT Press, Cambridge (2005)Google Scholar
  25. 25.
    Vaughan, R.: Massively multiple robot simulations in Stage. Swarm Intell. 2(2–4), 189–208 (2008)CrossRefGoogle Scholar
  26. 26.
    Visser, A., Slamet, B.: Including communication success in the estimation of information gain for multi-robot exploration. In: Proceedings of WiOPT, pp. 680–687 (2008)Google Scholar
  27. 27.
    Zlot, R., Stentz, A., Dias, M., Thayer, S.: Multi-robot exploration controlled by a market economy. In: Proceedings of ICRA, pp. 3016–3023 (2002)Google Scholar

Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Francesco Amigoni
    • 1
    Email author
  • Jacopo Banfi
    • 2
  • Nicola Basilico
    • 2
  • Ioannis Rekleitis
    • 3
  • Alberto Quattrini Li
    • 4
  1. 1.Politecnico di MilanoMilanoItaly
  2. 2.Università degli Studi di MilanoMilanoItaly
  3. 3.University of South CarolinaColumbiaUSA
  4. 4.Dartmouth CollegeHanoverUSA

Personalised recommendations