マルチロボットシステムにおける通信の批判的レビュー
A Critical Review of Communications in Multi-Robot Systems
マルチロボットシステムを支える通信技術とロボット応用の関係を概観し、ロボットとネットワークの協調設計の不足や機械学習の役割、sim-to-realギャップなどの課題を指摘したレビュー論文。
著者: Jennifer Gielis, Ajay Shankar, Amanda Prorok
分類: cs.RO, cs.MA
原文アブストラクト
Purpose of Review. This review summarizes the broad roles that communication formats and technologies have played in enabling multi-robot systems. We approach this field from two perspectives: of robotic applications that need communication capabilities in order to accomplish tasks, and of networking technologies that have enabled newer and more advanced multi-robot systems. Recent Findings. Through this review, we identify a dearth of work that holistically tackles the problem of co-design and co-optimization of robots and the networks they employ. We also highlight the role that data-driven and machine learning approaches play in evolving communication pipelines for multi-robot systems. In particular, we refer to recent work that diverges from hand-designed communication patterns, and also discuss the "sim-to-real" gap in this context. Summary. We present a critical view of the way robotic algorithms and their networking systems have evolved, and make the case for a more synergistic approach. Finally, we also identify four broad Open Problems for research and development, while offering a data-driven perspective for solving some of them.
