ACHORD: communication-aware multi-robot coordination with intermittent connectivity

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Autores: Saboia Da Silva, Maira, Clack, Lillian, Thangavelu, Vivek, Edlund, Jeffrey, Kyohei, Otsu, Correa, Gustavo J, Varadharajan, Vivek Shankar, Santamaria Navarro, Àngel|||0000-0002-6328-1423, Touma, Thomas, Bouman, Amanda, Melikyan, Hovhannes, Pailevanian, Torkom, Kim, Sung-Kyun, Archanian, Avak, Vaquero, Tiago Stegun, Beltrame, Giovanni, Napp, Nils, Pessin, Gustavo, Agha-mohammadi, Ali-akbar
Tipo de recurso: artículo
Fecha de publicación:2022
País:España
Institución:Universitat Politècnica de Catalunya (UPC)
Repositorio:UPCommons. Portal del coneixement obert de la UPC
Idioma:inglés
OAI Identifier:oai:upcommons.upc.edu:2117/381473
Acceso en línea:https://hdl.handle.net/2117/381473
https://dx.doi.org/10.1109/LRA.2022.3193240
Access Level:acceso abierto
Palabra clave:Robots
Intelligent robots
Mobile robots
Multi-robot systems.
Àrees temàtiques de la UPC::Informàtica::Robòtica
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spelling ACHORD: communication-aware multi-robot coordination with intermittent connectivitySaboia Da Silva, MairaClack, LillianThangavelu, VivekEdlund, JeffreyKyohei, OtsuCorrea, Gustavo JVaradharajan, Vivek ShankarSantamaria Navarro, Àngel|||0000-0002-6328-1423Touma, ThomasBouman, AmandaMelikyan, HovhannesPailevanian, TorkomKim, Sung-KyunArchanian, AvakVaquero, Tiago StegunBeltrame, GiovanniNapp, NilsPessin, GustavoAgha-mohammadi, Ali-akbarRobotsIntelligent robotsMobile robotsMulti-robot systems.RobotsÀrees temàtiques de la UPC::Informàtica::Robòtica© 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting /republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other worksCommunication is an important capability for multi-robot exploration because (1) inter-robot communication (comms) improves coverage efficiency and (2) robot-to-base comms improves situational awareness. Exploring comms-restricted (e.g., subterranean) environments requires a multi-robot system to tolerate and anticipate intermittent connectivity, and to carefully consider comms requirements, otherwise mission-critical data may be lost. In this paper, we describe and analyze ACHORD (Autonomous & Collaborative High-Bandwidth Operations with Radio Droppables), a multi-layer networking solution which tightly co-designs the network architecture and high-level decision-making for improved comms. ACHORD provides bandwidth prioritization and timely and reliable data transfer despite intermittent connectivity. Furthermore, it exposes low-layer networking metrics to the application layer to enable robots to autonomously monitor, map, and extend the network via droppable radios, as well as restore connectivity to improve collaborative exploration. We evaluate our solution with respect to the comms performance in several challenging underground environments including the DARPA SubT Finals competition environment. Our findings support the use of data stratification and flow control to improve bandwidth-usage.Peer ReviewedInstitute of Electrical and Electronics Engineers (IEEE)20222022-01-0120232023-01-30journal articlehttp://purl.org/coar/resource_type/c_6501AMhttp://purl.org/coar/version/c_ab4af688f83e57aainfo:eu-repo/semantics/articleapplication/pdfhttps://hdl.handle.net/2117/381473https://dx.doi.org/10.1109/LRA.2022.3193240reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)InglésengEuropean Commission http://doi.org/10.13039/100010661 Horizon 2020 Framework Programme 101016906 A Collaborative Paradigm for Human Workers and Multi-Robot Teams in Precision Agriculture SystemsAgencia Estatal de Investigación http://doi.org/10.13039/501100011033 Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020 PID2020-119244GB-I00 ESTIMACION Y CONTROL DE MOVIMIENTO CON CAMARAS DE EVENTOSopen accesshttp://purl.org/coar/access_right/c_abf2Attribution-NonCommercial-NoDerivatives 4.0 Internationalhttp://creativecommons.org/licenses/by-nc-nd/4.0/info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/3814732026-05-27T15:37:01Z
dc.title.none.fl_str_mv ACHORD: communication-aware multi-robot coordination with intermittent connectivity
title ACHORD: communication-aware multi-robot coordination with intermittent connectivity
spellingShingle ACHORD: communication-aware multi-robot coordination with intermittent connectivity
Saboia Da Silva, Maira
Robots
Intelligent robots
Mobile robots
Multi-robot systems.
Robots
Àrees temàtiques de la UPC::Informàtica::Robòtica
title_short ACHORD: communication-aware multi-robot coordination with intermittent connectivity
title_full ACHORD: communication-aware multi-robot coordination with intermittent connectivity
title_fullStr ACHORD: communication-aware multi-robot coordination with intermittent connectivity
title_full_unstemmed ACHORD: communication-aware multi-robot coordination with intermittent connectivity
title_sort ACHORD: communication-aware multi-robot coordination with intermittent connectivity
dc.creator.none.fl_str_mv Saboia Da Silva, Maira
Clack, Lillian
Thangavelu, Vivek
Edlund, Jeffrey
Kyohei, Otsu
Correa, Gustavo J
Varadharajan, Vivek Shankar
Santamaria Navarro, Àngel|||0000-0002-6328-1423
Touma, Thomas
Bouman, Amanda
Melikyan, Hovhannes
Pailevanian, Torkom
Kim, Sung-Kyun
Archanian, Avak
Vaquero, Tiago Stegun
Beltrame, Giovanni
Napp, Nils
Pessin, Gustavo
Agha-mohammadi, Ali-akbar
author Saboia Da Silva, Maira
author_facet Saboia Da Silva, Maira
Clack, Lillian
Thangavelu, Vivek
Edlund, Jeffrey
Kyohei, Otsu
Correa, Gustavo J
Varadharajan, Vivek Shankar
Santamaria Navarro, Àngel|||0000-0002-6328-1423
Touma, Thomas
Bouman, Amanda
Melikyan, Hovhannes
Pailevanian, Torkom
Kim, Sung-Kyun
Archanian, Avak
Vaquero, Tiago Stegun
Beltrame, Giovanni
Napp, Nils
Pessin, Gustavo
Agha-mohammadi, Ali-akbar
author_role author
author2 Clack, Lillian
Thangavelu, Vivek
Edlund, Jeffrey
Kyohei, Otsu
Correa, Gustavo J
Varadharajan, Vivek Shankar
Santamaria Navarro, Àngel|||0000-0002-6328-1423
Touma, Thomas
Bouman, Amanda
Melikyan, Hovhannes
Pailevanian, Torkom
Kim, Sung-Kyun
Archanian, Avak
Vaquero, Tiago Stegun
Beltrame, Giovanni
Napp, Nils
Pessin, Gustavo
Agha-mohammadi, Ali-akbar
author2_role author
author
author
author
author
author
author
author
author
author
author
author
author
author
author
author
author
author
dc.subject.none.fl_str_mv Robots
Intelligent robots
Mobile robots
Multi-robot systems.
Robots
Àrees temàtiques de la UPC::Informàtica::Robòtica
topic Robots
Intelligent robots
Mobile robots
Multi-robot systems.
Robots
Àrees temàtiques de la UPC::Informàtica::Robòtica
description © 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting /republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works
publishDate 2022
dc.date.none.fl_str_mv 2022
2022-01-01
2023
2023-01-30
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
AM
http://purl.org/coar/version/c_ab4af688f83e57aa
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/381473
https://dx.doi.org/10.1109/LRA.2022.3193240
url https://hdl.handle.net/2117/381473
https://dx.doi.org/10.1109/LRA.2022.3193240
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.relation.none.fl_str_mv European Commission http://doi.org/10.13039/100010661 Horizon 2020 Framework Programme 101016906 A Collaborative Paradigm for Human Workers and Multi-Robot Teams in Precision Agriculture Systems
Agencia Estatal de Investigación http://doi.org/10.13039/501100011033 Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020 PID2020-119244GB-I00 ESTIMACION Y CONTROL DE MOVIMIENTO CON CAMARAS DE EVENTOS
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivatives 4.0 International
http://creativecommons.org/licenses/by-nc-nd/4.0/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivatives 4.0 International
http://creativecommons.org/licenses/by-nc-nd/4.0/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers (IEEE)
publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers (IEEE)
dc.source.none.fl_str_mv reponame:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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