Multirobot online construction of communication maps
Jacopo Banfi, Alberto Quattrini Li, Nicola Basilico, Ioannis Rekleitis, Francesco Amigoni
Abstract
The importance of communication in many multirobot 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.
BibTeX
@inproceedings{icra2017_multirobotonline,
title = {Multirobot online construction of communication maps},
author = {Jacopo Banfi and Alberto Quattrini Li and Nicola Basilico and Ioannis Rekleitis and Francesco Amigoni},
booktitle = {ICRA 2017},
year = {2017}
}