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Conference proceeding
Communication-Aware Multi-robot Coordination with Submodular Maximization
2021 IEEE International Conference on Robotics and Automation (ICRA), v 2021-, pp 8955-8961
30 May 2021
Featured in Collection : UN Sustainable Development Goals @ Drexel
Abstract
Submodular maximization has been widely used in many multi-robot task planning problems including information gathering, exploration, and target tracking. However, the interplay between submodular maximization and communication is rarely explored in the multi-robot setting. In many cases, maximizing the submodular objective may drive the robots in a way so as to disconnect the communication network. Driven by such observations, in this paper, we consider the problem of maximizing submodular function with connectivity constraints. Specifically, we propose a problem called Communication-aware Submodular Maximization (CSM), in which communication maintenance and submodular maximization are jointly considered in the decision-making process. One heuristic algorithm that consists of two stages, i.e. topology generation and deviation minimization is proposed. We validate the formulation and algorithm through numerical simulation. We find that our algorithm on average suffers only slightly performance decrease compared to the pure greedy strategy.
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Details
- Title
- Communication-Aware Multi-robot Coordination with Submodular Maximization
- Creators
- Guangyao Shi - University of Maryland, College ParkIshat E Rabban - University of Maryland, College ParkLifeng Zhou - University of PennsylvaniaPratap Tokekar - University of Maryland, College Park
- Publication Details
- 2021 IEEE International Conference on Robotics and Automation (ICRA), v 2021-, pp 8955-8961
- Publisher
- IEEE
- Number of pages
- 7
- Resource Type
- Conference proceeding
- Language
- English
- Academic Unit
- Electrical and Computer Engineering
- Web of Science ID
- WOS:000771405402035
- Scopus ID
- 2-s2.0-85125488381
- Other Identifier
- 991021945758404721
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- Collaboration types
- Domestic collaboration
- Web of Science research areas
- Automation & Control Systems
- Robotics