.png){kind=icon}
返回
Multi-Robot Collaborative Exploration on Communication-Constrained Environments
.png){kind=icon}
OA
AI
DOI：10.1109/ACCESS.2025.3539518.png)
.png){kind=icon}
原文求助.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
Multi-robot cooperative exploration systems can gather environmental data in harsh and unknown scenarios, reducing the risk of human exposure and enhancing exploration capabilities. However, some communication-constrained (e.g., post-disaster) scenarios hinder the ability of robots to exchange map information. To resolve this issue, existing approaches utilize control strategies or deep reinforcement learning to enhance the map exchange process and the associated decision-making algorithm. However, the performance of these methods is limited in such scenarios due to the following challenges: 1) the extensive exchange of redundant information increases the burden on the robots' communication bandwidth; 2) exploration capabilities are limited when map information transmission is blocked. To overcome these challenges, we propose a novel framework entitled CMICE (Communication-constrained Multi-Robot Intelligent Collaborative Exploration). Specifically, the framework contains the following two components: 1) a Non-Essential Non-Communication (NENC) component is introduced to reduce bandwidth requirements significantly; 2) a CNN-based Multi-agent TD3 (CMATD3) algorithm is designed to enhance exploration capabilities in the above scenarios. Experimental results demonstrate that CMICE outperforms the state-of-the-art models in both ideal and communication-constrained environments.
Keyword:
Exploration
bandwidth optimization
intelligent
communication-constrained environments
Exploration
bandwidth optimization
intelligent
communication-constrained environments
期刊
IF:
3.6
论文数:
9.8W
被引数:
29.4W
机构
引用论文
HMS-RRT: A novel hybrid multi-strategy rapidly-exploring random tree algorithm for multi-robot collaborative exploration in unknown environmentsHms-rrt: 一种新的混合多策略快速探索随机树算法，用于未知环境下的多机器人协作探索
PREAI
分享收藏Estrogen receptor mediated activity in bankside groundwater, with flood suspended particulate matter and floodplain soil – An approach combining tracer substance, bioassay and target analysis.png)
Chemosphere
ChemosphereIF0
PREAI
分享收藏Exploring the impact mechanism of collaborative robot on manufacturing firm performance: A dynamic capability perspective协作机器人对制造企业绩效的影响机制探究 -- 基于动态能力视角SUSTAINABLE FUTURES
OAAI
SUSTAINABLE FUTURESIF4.9
OAAI分享收藏分享收藏Immunohistochemical study of metallothionein in normal and benign prostatic hyperplasia of human prostate人前列腺正常和良性前列腺增生中金属硫蛋白的免疫组织化学研究The Prostate
The ProstateIF0
PREAI
分享收藏分享收藏
查看更多内容