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Multi-robot active information gathering with periodic communication

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

Details

Original languageEnglish
Title of host publicationICRA 2017 - IEEE International Conference on Robotics and Automation
PublisherIEEE
Pages851-856
Number of pages6
ISBN (Electronic)9781509046331
DOIs
Publication statusPublished - 21 Jul 2017
Publication typeA4 Article in a conference publication
EventIEEE International Conference on Robotics and Automation -
Duration: 1 Jan 19001 Jan 2000

Conference

ConferenceIEEE International Conference on Robotics and Automation
Period1/01/001/01/00

Abstract

A team of robots sharing a common goal can benefit from coordination of the activities of team members, helping the team to reach the goal more reliably or quickly. We address the problem of coordinating the actions of a team of robots with periodic communication capability executing an information gathering task. We cast the problem as a multi-agent optimal decision-making problem with an information theoretic objective function. We show that appropriate techniques for solving decentralized partially observable Markov decision processes (Dec-POMDPs) are applicable in such information gathering problems. We quantify the usefulness of coordinated information gathering through simulation studies, and demonstrate the feasibility of the method in a real-world target tracking domain.