Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Preprint |
| Published: |
2024
|
| Subjects: | |
| Online Access: | https://arxiv.org/abs/2403.14780 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866913994098343936 |
|---|---|
| author | Psomiadis, Evangelos Maity, Dipankar Tsiotras, Panagiotis |
| author_facet | Psomiadis, Evangelos Maity, Dipankar Tsiotras, Panagiotis |
| contents | This paper investigates the task-driven exploration of unknown environments with mobile sensors communicating compressed measurements. The sensors explore the area and transmit their compressed data to another robot, assisting it to reach its goal location. We propose a novel communication framework and a tractable multi-agent exploration algorithm to select the sensors' actions. The algorithm uses a task-driven measure of uncertainty, resulting from map compression, as a reward function. We validate the efficacy of our algorithm through numerical simulations conducted on a realistic map and compare it with alternative approaches. The results indicate that the proposed algorithm effectively decreases the time required for the robot to reach its target without causing excessive load on the communication network. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_14780 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Multi-agent Task-Driven Exploration via Intelligent Map Compression and Sharing Psomiadis, Evangelos Maity, Dipankar Tsiotras, Panagiotis Robotics This paper investigates the task-driven exploration of unknown environments with mobile sensors communicating compressed measurements. The sensors explore the area and transmit their compressed data to another robot, assisting it to reach its goal location. We propose a novel communication framework and a tractable multi-agent exploration algorithm to select the sensors' actions. The algorithm uses a task-driven measure of uncertainty, resulting from map compression, as a reward function. We validate the efficacy of our algorithm through numerical simulations conducted on a realistic map and compare it with alternative approaches. The results indicate that the proposed algorithm effectively decreases the time required for the robot to reach its target without causing excessive load on the communication network. |
| title | Multi-agent Task-Driven Exploration via Intelligent Map Compression and Sharing |
| topic | Robotics |
| url | https://arxiv.org/abs/2403.14780 |