Multi-robot Optimal Deployment Planning Under Communication Constraints
In this paper, we address the problem of optimal multi-robot team deployment while maintaining communication for all the robots. The objective is to execute the mission of reaching several goals with minimal number of robots, as well as reducing the total distance travelled to reach the goals. Therefore, we develop an algorithm that computes some secondary or virtual goals to move robots enhancing the coverage over the map. Due to the presence of obstacles, we study the use of different criteria in order to add more flexibility to the optimization in terms of travelled distance or relay nodes saving.
KeywordsCommunication constraints Graph connectivity Multi-robot Optimal deployment
Unable to display preview. Download preview PDF.
- 1.Rizzo, C., Tardioli, D., Sicignano, D., Riazuelo, L., Villaroel, J.L., Montano, L.: Signal-based deployment planning for robot teams in tunnel-like fading environments. International Journal of Robotics Research (2013)Google Scholar
- 2.Tardioli, D., Mosteo, A.R., Riazuelo, L., Villaroel, J.L., Montano, L.: Enforcing network connectivity in robot team missions. The International Journal of Robotics Research 29(4), 460–480Google Scholar
- 3.Flushing, E.F., Kudelski, M., Gambardella, L.M., Caro, G.: Spatial prediction of wireless links and its application to the path control of mobile robots. In: 9th IEEE International Symposium on Industrial Embedded Systems pp. 218–227 (2014)Google Scholar
- 4.Hollinger, G., Singh, S.: Multi-robot coordination with periodic connectivity. IEEE Transactions on Robotics 28(4)Google Scholar
- 5.Fink, J., Ribeiro, A., Kumar, V.: Robust control of mobility and communications in autonomous robot teams. IEEE Access 1 (2013)Google Scholar
- 7.Ji, M., Egenrstedt, M.: Distributed coordination control of multiagent systems while preserving conectedness. IEEE Transactions on Robotics 23(4) (2007)Google Scholar
- 8.M.Lott, Forkel, I.: A multi-wall-and-floor model for indoor radio propagation. In: Proc. 53rd Vehicular Technology Conference IEEE VTS, pp. 464–468 (2001)Google Scholar
- 9.Zavlanos, M.M., Egerstedt, M.B., Pappas, G.J.: Graph theoretic connectivity control of mobile robot networks. Proceedings of the IEEE (2011)Google Scholar
- 10.Rooker, M.N., Birk, A.: Multi-robot exploration under the constraints of wireless networking. Control Engineering Practice 15(4), 435–445Google Scholar
- 11.Urcola, P., Riazuelo, L., Lázaro, M.T., Montano, L.: Cooperative navigation using environment compliant robot formations. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (2008)Google Scholar
- 12.Anderson, S.O., Simmons, R., Goldberg, D.: Maintaining line-of-sight communications networks between planetary rovers. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2266–2272 (2003)Google Scholar
- 13.Yan, Y., Mostofi, Y.: Robotic router formation in realistic communication environments. IEEE Transactions on Robotics 28(4) (2012)Google Scholar