利用多架空中机器人进行快速高保真地下探索
Rapid and High-Fidelity Subsurface Exploration with Multiple Aerial Robots
AI总结：
针对星下地下探索的通信等约束及现有研究对通信考量不足的问题，提出通信高效的分布式感知建图方法，可在低带宽下实现高保真建图，显著提升多机器人探索速率，经仿真和洞穴硬件实验验证有效。
摘要：
本文提出了一种通信高效的分布式建图方法，用于多机器人团队快速探索洞穴。星下地下探索是一个尚未解决的难题，面临通信、能源和计算限制的挑战。已有研究解决了快速探索以及利用多系统提升探索速率的问题，但通信层面的考量在很大程度上未被涉及。本文通过研发分布式感知建模填补了现有技术的这一空白，该建模可实现高保真建图，同时适用于低带宽通信信道。与现有最优方法相比，该方法使多机器人团队的探索速率显著提升。研究通过仿真研究以及在西弗吉尼亚州一处天然洞穴中开展的硬件实验进行了验证。
英文摘要：
This paper develops a communication-efficient distributed mapping approach for rapid exploration of a cave by a multi-robot team. Subsurface planetary exploration is an unsolved problem challenged by communication, power, and compute constraints. Prior works have addressed the problems of rapid exploration and leveraging multiple systems to increase exploration rate; however, communication considerations have been left largely unaddressed. This paper bridges this gap in the state of the art by developing distributed perceptual modeling that enables high-fidelity mapping while remaining amenable to low-bandwidth communication channels. The approach yields significant gains in exploration rate for multi-robot teams as compared to state-of-the-art approaches. The work is evaluated through simulation studies and hardware experiments in a wild cave in West Virginia.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
