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Effects of Communication Restriction on Online Multi-robot Exploration in Bounded Environments

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Distributed Autonomous Robotic Systems

Part of the book series: Springer Proceedings in Advanced Robotics ((SPAR,volume 9))

Abstract

In multi-robot exploration for real-world applications, the amount of communication available in a given environment can vary greatly, and has significant effects on the performance of the robot team. We compare algorithms which use three communication models, from unlimited global communication to unplanned, semi-random encounters between robots; and we evaluate each algorithms’ performance with different sized robot teams in three environments. We provide simulation results showing how the algorithms perform under optimal conditions, and discuss how real-world situations impact performance.

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Author information

Authors and Affiliations

  1. University of Minnesota, Minneapolis, MN, USA

    Elizabeth A. Jensen & Maria Gini

Authors
  1. Elizabeth A. Jensen
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  2. Maria Gini
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Corresponding author

Correspondence to Elizabeth A. Jensen .

Editor information

Editors and Affiliations

  1. Department of Computer Science, University of Colorado Boulder, Boulder, CO, USA

    Nikolaus Correll

  2. Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA

    Mac Schwager

  3. Department of Aerospace Engineering, University of Maryland, College Park, MD, USA

    Michael Otte

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Jensen, E.A., Gini, M. (2019). Effects of Communication Restriction on Online Multi-robot Exploration in Bounded Environments. In: Correll, N., Schwager, M., Otte, M. (eds) Distributed Autonomous Robotic Systems. Springer Proceedings in Advanced Robotics, vol 9. Springer, Cham. https://doi.org/10.1007/978-3-030-05816-6_33

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