Information Distribution in Multi-Robot Systems: Utility-Based Evaluation Model †
Karl Popper Kolleg on Networked Autonomous Aerial Vehicles (KPK NAV), University of Klagenfurt, 9020 Klagenfurt, Austria
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This article is an extended version of our workshop paper “An Evaluation Model for Information Distribution in Multi-Robot Systems” published in the Proceedings of the IEEE International Conference on Computer Communications: Workshop on Mission-Oriented Wireless Sensor, UAV and Robot Networking (MiSARN), 29 April–2 May 2019, Paris, France. The extensions over the workshop paper are described in Section 1.2.
Sensors 2020, 20(3), 710; https://doi.org/10.3390/s20030710
Received: 17 October 2019
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Revised: 14 November 2019
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Accepted: 22 November 2019
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Published: 28 January 2020
(This article belongs to the Special Issue UAV-Based Applications in the Internet of Things (IoT))
This work addresses the problem of information distribution in multi-robot systems, with an emphasis on multi-UAV (unmanned aerial vehicle) applications. We present an analytical model that helps evaluate and compare different information distribution schemes in a robotic mission. It serves as a unified framework to represent the usefulness (utility) of each message exchanged by the robots. It can be used either on its own in order to assess the information distribution efficacy or as a building block of solutions aimed at optimizing information distribution. Moreover, we present multiple examples of instantiating the model for specific missions. They illustrate various approaches to defining the utility of different information types. Finally, we introduce a proof of concept showing the applicability of the model in a robotic system by implementing it in Robot Operating System 2 (ROS 2) and performing a simple simulated mission using a network emulator. We believe the introduced model can serve as a basis for further research on generic solutions for assessing or optimizing information distribution.
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MDPI and ACS Style
Barciś, M.; Barciś, A.; Hellwagner, H. Information Distribution in Multi-Robot Systems: Utility-Based Evaluation Model. Sensors 2020, 20, 710. https://doi.org/10.3390/s20030710
AMA Style
Barciś M, Barciś A, Hellwagner H. Information Distribution in Multi-Robot Systems: Utility-Based Evaluation Model. Sensors. 2020; 20(3):710. https://doi.org/10.3390/s20030710
Chicago/Turabian StyleBarciś, Michał, Agata Barciś, and Hermann Hellwagner. 2020. "Information Distribution in Multi-Robot Systems: Utility-Based Evaluation Model" Sensors 20, no. 3: 710. https://doi.org/10.3390/s20030710
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