Multirobot Online Construction of Communication Maps

Jacopo Banfi, Alberto Quattrini Li, Nicola Basilico, Ioannis Rekleitis, Francesco Amigoni
In IEEE International Conference on Robotics and Automation (ICRA) 2017.


Abstract: The importance of communication in many mul- tirobot information-gathering tasks requires the availability of reliable communication maps. These provide estimates of the radio signal strength and can be used to predict the presence of communication links between different locations of the environment. In the problem we consider, a team of mobile robots has to build such maps autonomously in a robot-to-robot communication setting. The solution we propose models the signal’s distribution with a Gaussian Process and exploits different online sensing strategies to coordinate and guide the robots during their data acquisition. Our methods show interesting operative insights both in simulations and on real TurtleBot 2 platforms.




  author       = {Jacopo Banfi and Alberto Quattrini Li and Nicola Basilico
		 and Ioannis Rekleitis and Francesco Amigoni},
  title        = {{Multirobot Online Construction of Communication Maps}},
  booktitle    = {IEEE International Conference on Robotics and Automation
  year	       = {2017},
  pages        = {2577 - 2583},
  month        = {May},
  address      = {Singapore}

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