Asynchronous multirobot exploration under recurrent connectivity constraints

Jacopo Banfi, Alberto Quattrini Li, Nicola Basilico, Ioannis Rekleitis, Francesco Amigoni
In IEEE International Conference on Robotics and Automation (ICRA) 2016. [30 citations]


Abstract: In multirobot exploration under centralized control, communication plays an important role in constraining the team exploration strategy. Recurrent connectivity is a way to define communication constraints for which robots must connect to a base station only when making new observations. This paper studies effective multirobot exploration strategies under recurrent connectivity by considering a centralized and asynchronous planning framework. We formalize the problem of selecting the optimal set of locations robots should reach, provide an exact formulation to solve it, and devise an approximation algorithm to obtain efficient solutions with a bounded loss of optimality. Experiments in simulation and on real robots evaluate our approach in a number of settings.




  author       = {Jacopo Banfi and Alberto Quattrini Li and Nicola Basilico
		 and Ioannis Rekleitis and Francesco Amigoni},
  booktitle    = {IEEE International Conference on Robotics and Automation
  title        = {Asynchronous multirobot exploration under recurrent
		 connectivity constraints},
  year	       = {2016},
  pages        = {5491-5498},
  keywords     = {multi-robot systems;path planning;asynchronous multirobot
		 exploration;centralized asynchronous planning
		 framework;centralized control;communication
		 constraints;recurrent connectivity constraints;team
		 exploration strategy;Base stations;Planning;Relays;Robot
		 kinematics;Robot sensing systems},
  doi	       = {10.1109/ICRA.2016.7487763},
  address      = {Stockholm, Sweden},
  month        = {May}

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