WiSER-X: 明示的な情報交換なしで無線信号を活用する効率的な分散マルチロボット探索
WiSER-X: Wireless Signals-based Efficient Decentralized Multi-Robot Exploration without Explicit Information Exchange
無線信号のピング交換による相対位置推定のみを用い、地図共有なしで冗長な探索を抑える分散マルチロボット探索アルゴリズムを提案し、シミュレーションと実機実験で有効性を示した。
著者: Ninad Jadhav, Meghna Behari, Robert J. Wood, Stephanie Gil
分類: cs.RO
原文アブストラクト
We introduce a Wireless Signal based Efficient multi-Robot eXploration (WiSER-X) algorithm applicable to a decentralized team of robots exploring an unknown environment with communication bandwidth constraints. WiSER-X relies only on local inter-robot relative position estimates, that can be obtained by exchanging signal pings from onboard sensors such as WiFi, Ultra-Wide Band, amongst others, to inform the exploration decisions of individual robots to minimize redundant coverage overlaps. Furthermore, WiSER-X also enables asynchronous termination without requiring a shared map between the robots. It also adapts to heterogeneous robot behaviors and even complete failures in unknown environment while ensuring complete coverage. Simulations show that WiSER-X leads to 58% lower overlap than a zero-information-sharing baseline algorithm-1 and only 23% more overlap than a full-information-sharing algorithm baseline algorithm-2. Hardware experiments further validate the feasibility of WiSER-X using full onboard sensing.
