论文标题
使用最佳运输理论有效，分散和协作多机器人探索
Efficient, Decentralized, and Collaborative Multi-Robot Exploration using Optimal Transport Theory
论文作者
论文摘要
本文提出了最佳运输（OT）基于分散的协作多机器人探索策略。该方法是在给定域中具有预定义优先级的有效探索。在这种情况下，效率指示了一个机器人团队（代理）如何覆盖域中反映相应优先级图（或重要性程度）的域。分散的探索意味着，在没有任何监督代理/计算机的情况下，每个代理商都独立执行其勘探任务。当代理在通信范围内遇到另一个代理商时，每个代理都会收到有关其他代理已经涵盖哪些区域的信息，从而进行了协作探索。 OT理论用于量化机器人轨迹形成的分布与指示优先级的给定参考空间分布之间的差异。开发了一种计算可行的方法来衡量拟议的勘探方案的性能。此外，为高效，分散和协作探索计划提供了正式算法。提出了仿真结果以验证所提出的方法。
An Optimal Transport (OT)-based decentralized collaborative multi-robot exploration strategy is proposed in this paper. This method is to achieve an efficient exploration with a predefined priority in the given domain. In this context, the efficiency indicates how a team of robots (agents) cover the domain reflecting the corresponding priority map (or degrees of importance) in the domain. The decentralized exploration implies that each agent carries out their exploration task independently in the absence of any supervisory agent/computer. When an agent encounters another agent within a communication range, each agent receives the information about which areas are already covered by other agents, yielding a collaborative exploration. The OT theory is employed to quantify the difference between the distribution formed by the robot trajectories and the given reference spatial distribution indicating the priority. A computationally feasible way is developed to measure the performance of the proposed exploration scheme. Further, the formal algorithm is provided for the efficient, decentralized, and collaborative exploration plan. Simulation results are presented to validate the proposed methods.
