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• W2890983077 abstract "We present an algorithm for selecting when to communicate during online planning phases of coordinated multi-robot missions. The key idea is that a robot decides to request communication from another robot by reasoning over the predicted information value of communication messages over a sliding time-horizon, where communication messages are probability distributions over action sequences. We formulate this problem in the context of the recently proposed decentralised Monte Carlo tree search (Dec-MCTS) algorithm for online, decentralised multi-robot coordination. We propose a particle filter for predicting the information value, and a polynomial-time belief-space planning algorithm for finding the optimal communication schedules in an online and decentralised manner. We evaluate the benefit of informative communication planning for a multi-robot information gathering scenario with 8 simulated robots. Our results show reductions in channel utilisation of up to four-fifths with surprisingly little impact on coordination performance." @default.
• W2890983077 created "2018-09-27" @default.
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• W2890983077 date "2018-05-01" @default.
• W2890983077 modified "2023-10-13" @default.
• W2890983077 title "Planning-Aware Communication for Decentralised Multi-Robot Coordination" @default.
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• W2890983077 doi "https://doi.org/10.1109/icra.2018.8460617" @default.
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