複数の飛行ロボットによる迅速かつ高精度な地下探査
Rapid and High-Fidelity Subsurface Exploration with Multiple Aerial Robots
低帯域通信でも高精度な地図を作れる分散知覚モデリングを開発し、複数ドローンの洞窟探査速度を大幅に向上させた。
著者: Kshitij Goel, Wennie Tabib, Nathan Michael
分類: cs.RO
原文アブストラクト
This paper develops a communication-efficient distributed mapping approach for rapid exploration of a cave by a multi-robot team. Subsurface planetary exploration is an unsolved problem challenged by communication, power, and compute constraints. Prior works have addressed the problems of rapid exploration and leveraging multiple systems to increase exploration rate; however, communication considerations have been left largely unaddressed. This paper bridges this gap in the state of the art by developing distributed perceptual modeling that enables high-fidelity mapping while remaining amenable to low-bandwidth communication channels. The approach yields significant gains in exploration rate for multi-robot teams as compared to state-of-the-art approaches. The work is evaluated through simulation studies and hardware experiments in a wild cave in West Virginia.
