无需通信共享，机器人靠无线信号感知彼此位置高效探索
WiSER-X: Wireless Signals-based Efficient Decentralized Multi-Robot Exploration without Explicit Information Exchange
- 仅通过本地无线信号定位决定探索路径，避免重复覆盖
- 仿真中重叠率比无信息共享低58%，仅比全共享多23%
- 支持异构机器人和故障应对，适合资源受限的分布式场景
我们提出一种基于无线信号的高效多机器人去中心化探索算法WiSER-X，适用于通信带宽受限的未知环境。该算法仅依赖机器人间局部相对位置估计，通过交换如WiFi、超宽带等传感器的信号包来指导个体探索决策，以减少冗余覆盖。此外，WiSER-X支持异步终止，无需共享地图，可适应异构机器人行为甚至完全失效情况，确保完全覆盖。仿真结果显示，其重叠率比零信息共享基线降低58%，仅比全信息共享基线高23%。硬件实验进一步验证了基于全机载传感的可行性。
原文摘要 · Abstract (English)
We introduce a Wireless Signal based Efficient multi-Robot eXploration (WiSER-X) algorithm applicable to a decentralized team of robots exploring an unknown environment with communication bandwidth constraints. WiSER-X relies only on local inter-robot relative position estimates, that can be obtained by exchanging signal pings from onboard sensors such as WiFi, Ultra-Wide Band, amongst others, to inform the exploration decisions of individual robots to minimize redundant coverage overlaps. Furthermore, WiSER-X also enables asynchronous termination without requiring a shared map between the robots. It also adapts to heterogeneous robot behaviors and even complete failures in unknown environment while ensuring complete coverage. Simulations show that WiSER-X leads to 58% lower overlap than a zero-information-sharing baseline algorithm-1 and only 23% more overlap than a full-information-sharing algorithm baseline algorithm-2. Hardware experiments further validate the feasibility of WiSER-X using full onboard sensing.
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