论文标题
具有多个空中机器人的快速和高保真地下探索
Rapid and High-Fidelity Subsurface Exploration with Multiple Aerial Robots
论文作者
论文摘要
本文开发了一种沟通效率的分布式映射方法，用于由多机器人团队快速探索洞穴。地下行星探索是一个未能解决的问题，其沟通，权力和计算约束挑战。先前的工作已经解决了快速探索和利用多个系统以提高勘探速率的问题；但是，沟通的考虑在很大程度上没有解决。本文通过开发分布式的感知建模来弥合艺术状态的这一差距，该模型可以实现高保真映射，同时还可以保持低带宽通信渠道。与最先进的方法相比，该方法可为多机器人团队的勘探率显着提高。通过在西弗吉尼亚州一个野生洞穴中进行的模拟研究和硬件实验来评估这项工作。
This paper develops a communication-efficient distributed mapping approach for rapid exploration of a cave by a multi-robot team. Subsurface planetary exploration is an unsolved problem challenged by communication, power, and compute constraints. Prior works have addressed the problems of rapid exploration and leveraging multiple systems to increase exploration rate; however, communication considerations have been left largely unaddressed. This paper bridges this gap in the state of the art by developing distributed perceptual modeling that enables high-fidelity mapping while remaining amenable to low-bandwidth communication channels. The approach yields significant gains in exploration rate for multi-robot teams as compared to state-of-the-art approaches. The work is evaluated through simulation studies and hardware experiments in a wild cave in West Virginia.
