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| Hauptverfasser: | , , , |
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| Format: | Preprint |
| Veröffentlicht: |
2024
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| Schlagworte: | |
| Online-Zugang: | https://arxiv.org/abs/2412.19876 |
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| _version_ | 1866917126184370176 |
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| author | Jadhav, Ninad Behari, Meghna Wood, Robert J. Gil, Stephanie |
| author_facet | Jadhav, Ninad Behari, Meghna Wood, Robert J. Gil, Stephanie |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2412_19876 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | WiSER-X: Wireless Signals-based Efficient Decentralized Multi-Robot Exploration without Explicit Information Exchange Jadhav, Ninad Behari, Meghna Wood, Robert J. Gil, Stephanie Robotics 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. |
| title | WiSER-X: Wireless Signals-based Efficient Decentralized Multi-Robot Exploration without Explicit Information Exchange |
| topic | Robotics |
| url | https://arxiv.org/abs/2412.19876 |