On the Usage of General-Purpose Compression Techniques for the Optimization of Inter-robot Communication

  • Gonçalo S. Martins
  • David Portugal
  • Rui P. Rocha
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 370)


Managing the bandwidth requirements of a team of robots operating cooperatively is an ubiquitous and commonly overlooked problem, despite being a crucial issue in the successful deployment of robotic teams. As the team’s size grows, its bandwidth requirements can easily rise to unsustainable levels. On the other hand, general-purpose compression techniques are commonly used to transmit data through constrained communication channels, and may offer a solution to this problem. In this paper, we study the possibility of using general-purpose compression techniques to improve the efficiency of inter-robot communication, firstly by comparing the performance of various compression techniques in the context a of multi-robot simultaneous localization and mapping (SLAM) scenarios using simplified occupancy grids, and secondly by performing tests with one of the compression techniques on real-world data.


Compression methods Multi-robot systems Efficient information sharing 



This work was supported by the CHOPIN research project (PTDC/EEA-CRO/119000/2010) and by the ISR-Institute of Systems and Robotics (project PEst-C/EEI/UI0048/2011), funded by the Portuguese science agency “Fundação para a Ciência e a Tecnologia” (FCT).

The authors would like to acknowledge Eurico Pedrosa, Nuno Lau and Artur Pereira [1] for providing us with a software tool intended to adapt the raw sensor log files into a format readable by ROS.


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Gonçalo S. Martins
    • 1
  • David Portugal
    • 1
  • Rui P. Rocha
    • 1
  1. 1.Institute of Systems and RoboticsUniversity of CoimbraCoimbraPortugal

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