Abstract
Decentralized multi-robot systems typically perform coordinated motion planning by constantly broadcasting their intentions as a means to cope with the lack of a central system coordinating the efforts of all robots. Especially in complex dynamic environments, the coordination boost allowed by communication is critical to avoid collisions between cooperating robots. However, the risk of collision between a pair of robots fluctuates through their motion and communication is not always needed. Additionally, constant communication makes much of the still valuable information shared in previous time steps redundant. This paper presents an efficient communication method that solves the problem of "when"and with "whom"to communicate in multi-robot collision avoidance scenarios. In this approach, every robot learns to reason about other robots' states and considers the risk of future collisions before asking for the trajectory plans of other robots. We evaluate and verify the proposed communication strategy in simulation with four quadrotors and compare it with three baseline strategies: non-communicating, broadcasting and a distance-based method broadcasting information with quadrotors within a predefined distance.
Original language | English |
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Title of host publication | Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 |
Publisher | IEEE |
Pages | 11770-11776 |
ISBN (Electronic) | 978-1-7281-6212-6 |
DOIs | |
Publication status | Published - 2020 |
Event | 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 - Las Vegas, United States Duration: 24 Oct 2020 → 24 Jan 2021 |
Conference
Conference | 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 |
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Country/Territory | United States |
City | Las Vegas |
Period | 24/10/20 → 24/01/21 |
Bibliographical note
Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-careOtherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.