MRESim, a Multi-robot Exploration Simulator for the Rescue Simulation League

Spirin, V.M.; Hoog, Julian de; Visser, A.; Cameron, Stephen

doi:10.1007/978-3-319-18615-3_9

Cited by 7 publications

(3 citation statements)

References 25 publications

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“…In the simulation experiments, the communication channel is simulated using the signal propagation model proposed by Bahl and Padmanabhan (2000) -i.e., Equation 15and Equation 18. Such a communication model has been used in other simulators, such as MRESim (Spirin et al, 2014) and USARSim (Carpin et al, 2006), to test robot exploration strategies. In addition, USARSim has been used in the RoboCup Rescue Simulation Virtual Robot Competition in search and rescue scenarios.…”

Section: Simulationsmentioning

confidence: 99%

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Multi-robot online sensing strategies for the construction of communication maps

Penumarthi

Banfi

et al. 2019

Auton Robot

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This paper tackles the problem of constructing a communication map of a known environment using multiple robots. A communication map encodes information on whether two robots can communicate when they are at two arbitrary locations and plays a fundamental role for a multi-robot system deployment to reliably and effectively achieve a variety of tasks, such as environmental monitoring and exploration. Previous work on communication map building typically considered only scenarios with a fixed base station and designed offline methods, which did not exploit data collected online by the robots. This paper proposes Gaussian Process-based online methods to efficiently build a communication map with multiple robots. Such robots form a mesh network, where there is no fixed base station. Specifically, we provide two leader-follower online sensing strategies to coordinate and guide the robots while collecting data. Furthermore, we improve the performance and computational efficiency by exploiting prior communication models that can be built from the physical map of the environment. Extensive experimen

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Section: Simulationsmentioning

confidence: 99%

“…"Office" is a portion of the "sdr site b" environment from the Radish repository (Howard and Roy, 2003), representing an indoor environment with corridors and rooms. "Cluttered" is inspired from the "grass" environment of the MRESim repository (Spirin et al, 2014). It is unstructured with many obstacles around.…”

Section: Simulationsmentioning

confidence: 99%

Multi-robot online sensing strategies for the construction of communication maps

Penumarthi

Banfi

et al. 2019

Auton Robot

View full text Add to dashboard Cite

show abstract

“…The two competitions share the Infrastructure competition, which is intended to stimulate the further development of the league with new challenges. Champions of the league are recognized at the League's wiki 7 and get the chance to publish their contribution [16,17] in the Springer Lecture Notes series.…”

Section: Rescue Simulationmentioning

confidence: 99%