Multi Robot Surveillance and Planning in Limited Communication Environments

Vibhav Kedege, Vibhav Kedege, Aleksander Czechowski, Ludo Stellingwerff, Frans. Oliehoek

2022

Abstract

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.

Paper Citation

in Harvard Style

Kedege V., Czechowski A., Stellingwerff L. and Oliehoek F. (2022). Multi Robot Surveillance and Planning in Limited Communication Environments. In Proceedings of the 14th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART, ISBN 978-989-758-547-0, pages 139-147. DOI: 10.5220/0010775500003116

in Bibtex Style

@conference{icaart22,
author={Vibhav Kedege and Aleksander Czechowski and Ludo Stellingwerff and Frans. Oliehoek},
title={Multi Robot Surveillance and Planning in Limited Communication Environments},
booktitle={Proceedings of the 14th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART,},
year={2022},
pages={139-147},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010775500003116},
isbn={978-989-758-547-0},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 14th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART,
TI - Multi Robot Surveillance and Planning in Limited Communication Environments
SN - 978-989-758-547-0
AU - Kedege V.
AU - Czechowski A.
AU - Stellingwerff L.
AU - Oliehoek F.
PY - 2022
SP - 139
EP - 147
DO - 10.5220/0010775500003116