Communication-aware planning for robot teams deployment
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arXiv
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| Main Authors: | , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866913754239729664 |
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| author | Marchukov, Yaroslav Montano, Luis |
| author_facet | Marchukov, Yaroslav Montano, Luis |
| contents | In the present work we address the problem of deploying a team of robots in a scenario where some locations of interest must be reached. Thus, a planning for a deployment is required, before sending the robots. The obstacles, the limited communication range, and the need of communicating to a base station, constrain the connectivity of the team and the deployment planning. We propose a method consisting of three algorithms: a distributed path planner to obtain communication-aware trajectories; a deployment planner providing dual-use of the robots, visiting primary goals and performing connectivity tasks; and a clustering algorithm to allocate the tasks to robots, and obtain the best goal visit order for the mission. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2503_18545 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Communication-aware planning for robot teams deployment Marchukov, Yaroslav Montano, Luis Robotics Multiagent Systems In the present work we address the problem of deploying a team of robots in a scenario where some locations of interest must be reached. Thus, a planning for a deployment is required, before sending the robots. The obstacles, the limited communication range, and the need of communicating to a base station, constrain the connectivity of the team and the deployment planning. We propose a method consisting of three algorithms: a distributed path planner to obtain communication-aware trajectories; a deployment planner providing dual-use of the robots, visiting primary goals and performing connectivity tasks; and a clustering algorithm to allocate the tasks to robots, and obtain the best goal visit order for the mission. |
| title | Communication-aware planning for robot teams deployment |
| topic | Robotics Multiagent Systems |
| url | https://arxiv.org/abs/2503.18545 |