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Intermittent Connectivity for Exploration in Communication-Constrained Multi-Agent Systems

Klaesson, Filip and Nilsson, Petter and Ames, Aaron D. and Murray, Richard M. (2019) Intermittent Connectivity for Exploration in Communication-Constrained Multi-Agent Systems. . (Unpublished)

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Motivated by exploration of communication-constrained underground environments using robot teams, we study the problem of planning for intermittent connectivity in multi-agent systems. We propose a novel concept of information-consistency to handle situations where the plan is not initially known by all agents, and suggest an integer linear program for synthesizing information-consistent plans that also achieve auxiliary goals. Furthermore, inspired by network flow problems we propose a novel way to pose connectivity constraints that scales much better than previous methods. In the second part of the paper we apply these results in an exploration setting, and propose a clustering method that separates a large exploration problem into smaller problems that can be solved independently. We demonstrate how the resulting exploration algorithm is able to coordinate a team of ten agents to explore a large environment.

Item Type:Report or Paper (Discussion Paper)
Related URLs:
URLURL TypeDescription Paper
Nilsson, Petter0000-0001-8748-6936
Ames, Aaron D.0000-0003-0848-3177
Murray, Richard M.0000-0002-5785-7481
Record Number:CaltechAUTHORS:20200109-092058249
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:100582
Deposited By: Tony Diaz
Deposited On:09 Jan 2020 18:05
Last Modified:09 Jan 2020 18:05

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