A two phase recursive tree propagation based multi-robotic exploration framework with fixed base station constraint

Mukhija, Piyoosh; Krishna, K. Madhava; Krishna, Vamshi

doi:10.1109/iros.2010.5649864

Cited by 22 publications

(7 citation statements)

References 8 publications

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“…the locations are the nodes and an edge connects two such nodes which have ≤ C distance between them; C is the communication range of any robot. In this way, each robot will have at least one other robot in its communication range, which will make the communication graph connected and the robots will be able to share information directly or via a multi-hop fashion [74], [76]. A possible way to ensure this is to employ an u − v node separator-based connectivity checking strategy [75], [77].…”

Section: ) Secure Information Gathering Under Continuous Connectivitymentioning

confidence: 99%

Multi-Robot Information Gathering for Precision Agriculture: Current State, Scope, and Challenges

Dutta¹,

Roy

Kreidl

et al. 2021

IEEE Access

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Precision agriculture is the collection of hardware and software technologies that allow a farmer to make informed, differentiated decisions regarding agricultural operations such as planting, fertilizing, pest control, and harvesting. In recent years, advances in agricultural machinery and the emergence of agricultural robots continuously increased the resolution at which differentiated treatment is possible. This creates a corresponding need for information at a fine spatial and temporal resolution. Autonomous multi-robot systems (e.g., unmanned ground and aerial vehicles) are some of the most promising approaches for such information collection in open-air farms. In this paper, we survey the current state and challenges of multi-robot information gathering for precision agriculture, with a special focus on maximizing information and ensuring the security of the collected data while simultaneously keeping energy consumption in check.

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Section: ) Secure Information Gathering Under Continuous Connectivitymentioning

confidence: 99%

Multi-Robot Information Gathering for Precision Agriculture: Current State, Scope, and Challenges

Dutta¹,

Roy

Kreidl

et al. 2021

IEEE Access

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“…This could be useful, for instance, in situations where real-time image streaming is important (e.g., in search and rescue). The algorithm proposed by Mukhija et al (2010) constructs a connected exploration tree in which the robots are organized as explorers and link stations: explorers are placed at the leaves of the tree, while the link stations are at the inner nodes and ensure the connectivity of the BS (the root) with the explorers. Rooker and Birk (2007) devise a local search method where the utility of a team configuration is computed in terms of distances from the closest frontiers: a configuration that does not satisfy full connectivity is highly penalized and is never chosen by the algorithm.…”

Section: Continous Connectivitymentioning

confidence: 99%

Strategies for coordinated multirobot exploration with recurrent connectivity constraints

Banfi

Rekleitis

et al. 2017

Auton Robot

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During several applications, such as search and rescue, robots must discover new information about the environment and, at the same time, share operational knowledge with a base station through an ad hoc network. In this paper, we design exploration strategies that allow robots to coordinate with teammates to form such a network in order to satisfy recurrent connectivity constraints -that is, data must be shared with the base station when making new observations at the assigned locations. Current approaches lack in flexibility due to the assumptions made about the communication model. Furthermore, they are sometimes inefficient because of the synchronous way they work: new plans are issued only once all robots have reached their goals. This paper introduces two novel asynchronous strategies that work with arbitrary communication models. In this paper, 'asynchronous' means that it is possible to issue new plans to subgroups of robots, when they are ready to receive them. First, we propose a singlestage strategy based on Integer Linear Programming for selecting and assigning robots to locations. Second, we design a two-stage strategy to improve computational efficiency, by separating the problem of locations' selection from that of robot-location assignments. Extensive testing both in simulation and with real robots show that the proposed strategies provide good situa-

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“…This conveniently applies to situations where two-way communication with each robot must be continuously maintained, e.g., in applications like teleoperated search with continuous real-time image streaming. To this aim, [2] proposes a local search algorithm, while [7] relies on a depth-first procedure to build the skeleton of the connected network. Clearly, guaranteeing continuous connection can introduce non-negligible costs for the exploration performance.…”

Section: Related Workmentioning

confidence: 99%

Asynchronous multirobot exploration under recurrent connectivity constraints

Banfi

Basilico

et al. 2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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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.

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A two phase recursive tree propagation based multi-robotic exploration framework with fixed base station constraint

Cited by 22 publications

References 8 publications

Multi-Robot Information Gathering for Precision Agriculture: Current State, Scope, and Challenges

Multi-Robot Information Gathering for Precision Agriculture: Current State, Scope, and Challenges

Strategies for coordinated multirobot exploration with recurrent connectivity constraints

Asynchronous multirobot exploration under recurrent connectivity constraints

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