Epistemic planning for multi-robot systems in communication-restricted environments.

ABSTRACT: Many real-world robotic applications such as search and rescue, disaster relief, and inspection operations are often set in unstructured environments with a restricted or unreliable communication infrastructure. In such environments, a multi-robot system must either be deployed to i) remain constantly connected, hence sacrificing operational efficiency or ii) allow disconnections considering when and how to regroup. In communication-restricted environments, we insist that the latter approach is desired to achieve a robust and predictable method for cooperative planning. One of the main challenges in achieving this goal is that optimal planning in partially unknown environments without communication requires an intractable sequence of possibilities. To solve this problem, we propose a novel

SUBMITTER: Bramblett L 

PROVIDER: S-EPMC10243298 | biostudies-literature | 2023

REPOSITORIES: biostudies-literature