Information Distribution in Multi-Robot Systems: Utility-Based Evaluation Model

Abstract

This work addresses the problem of information distribution in multi-robot systems, with an emphasis on multi-UAV (unmanned aerial vehicle) applications. We present an analytical model that helps evaluate and compare different information distribution schemes in a robotic mission. It serves as a unified framework to represent the usefulness (utility) of each message exchanged by the robots. It can be used either on its own in order to assess the information distribution efficacy or as a building block of solutions aimed at optimizing information distribution. Moreover, we present multiple examples of instantiating the model for specific missions. They illustrate various approaches to defining the utility of different information types. Finally, we introduce a proof of concept showing the applicability of the model in a robotic system by implementing it in Robot Operating System 2 (ROS 2) and performing a simple simulated mission using a network emulator. We believe the introduced model can serve as a basis for further research on generic solutions for assessing or optimizing information distribution.

Communication Planning for Cooperative Terrain-Based Underwater Localization

“…Similarly, Barcis et al developed an evaluation model that determines the value of certain types of data. However, rather than using a Markov decision process, Barcis et al built their evaluation model using domain knowledge of the application [ 15 ].…”

Multidrone Systems: More Than the Sum of the Parts

“…Our work addresses the close interdependence of communication, coordination, and sensing 10 and proposes a utility model to evaluate and optimize communication strategies. 11 Other approaches come from optimization, transport, and game theory, among other fields. 12 Edge computing offers interesting options for offloading processing tasks from drones.…”

DDS and OPC UA Protocol Coexistence Solution in Real-Time and Industry 4.0 Context Using Non-Ideal Infrastructure

“…It provides a communication system adapted for IIoT use cases and visualization and simulation mechanisms, helpful in architecture definitions and system behavioral observations at a low cost. With a whole ecosystem for development in place, ROS 2 gains popularity among both research and industrial fields [16,17]. The integration of other technologies, designed for obstacle detection, image processing, and dependency management between components is accessible, resulting in the rapid adoption of ROS2 as the desirable solution for the implementation of complex applications for distributed architectures specialized in robot control and odometry.…”