无人机智能选择传什么、传多少，帮地面机器人省通信、降导航成本。
Where to Fly, What to Send: Communication-Aware Aerial Support for Ground Robots
- 基于信息价值判断传什么，用数学规划控制传输量
- 减少通信数据量的同时，地面机器人的导航路径更短
- 适合资源受限的多机器人协同任务，如搜救、巡检
本文研究多机器人团队在未知环境中协作的问题，其中一架无人机负责环境测绘，并将部分地图信息传输给一群试图到达目标的地面机器人。整个过程受限于带宽有限的通信链路，因此需解决辅助无人机应何时、传什么、传多少信息的问题，同时进行探索与建图。提出的框架使无人机基于信息价值（VoI）决定传输内容，采用混合整数线性规划（MILP）确定传输量，并通过效用得分驱动的探索策略获取新信息。我们分析了通信量与地面机器人导航代价之间的权衡关系。
原文摘要 · Abstract (English)
In this work we consider a multi-robot team operating in an unknown environment where one aerial agent is tasked to map the environment and transmit (a portion of) the mapped environment to a group of ground agents that are trying to reach their goals. The entire operation takes place over a bandwidth-limited communication channel, which motivates the problem of determining what and how much information the assisting agent should transmit and when while simultaneously performing exploration/mapping. The proposed framework enables the assisting aerial agent to decide what information to transmit based on the Value-of-Information (VoI), how much to transmit using a Mixed-Integer Linear Programming (MILP), and how to acquire additional information through an utility score-based environment exploration strategy. We perform a communication-motion trade-off analysis between the total amount of map data communicated by the aerial agent and the navigation cost incurred by the ground agents.
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