NDLI: Dynamic team hierarchies in communication-limited multi-robot exploration

Content Provider	IEEE Xplore Digital Library
Author	de Hoog, J. Cameron, S. Visser, A.
Copyright Year	2010
Description	Author affiliation: Universiteit van Amsterdam, Science Park 107, NL 1098 XG, Netherlands (Visser, A.) \|\| Oxford University Computing Laboratory, Wolfson Building, Parks Road, OX13QD, United Kingdom (de Hoog, J.; Cameron, S.)
Abstract	In the near future, groups of autonomous robots using wireless communication will be used for a wide variety of tasks. In many such applications, communication may be unreliable and communication ranges difficult to predict. While most current approaches to this problem strive to keep team members within range of one another, we propose an approach in which navigation and exploration beyond range limits is explicitly planned for. Robots may either explore or relay known information, and the team hierarchy corresponds to a tree. As the exploration effort unfolds, robots swap roles within this tree to improve the efficiency of exploration. Since robots reactively adjust to communication availability, the resulting behaviour is robust to limited communication. This makes it particularly suitable for applications such as robotic search and rescue, where environments are likely to contain significant interference and unexpected communication ranges.
Starting Page	1
Ending Page	7
File Size	613657
Page Count	7
File Format	PDF
ISBN	9781424488988
e-ISBN	9781424488995
DOI	10.1109/SSRR.2010.5981573
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-07-26
Publisher Place	Germany
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Base stations dynamic hierarchy Navigation Robot kinematics robotic search and rescue limited communication Robot sensing systems rendezvous role-based exploration Relays Joints
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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