Decentralised Intelligence, Surveillance, and Reconnaissance in Unknown Environments with Heterogeneous Multi-Robot Systems
arXiv:2106.09219
Abstract
We present the design and implementation of a decentralised, heterogeneous multi-robot system for performing intelligence, surveillance and reconnaissance (ISR) in an unknown environment. The team consists of functionally specialised robots that gather information and others that perform a mission-specific task, and is coordinated to achieve simultaneous exploration and exploitation in the unknown environment. We present a practical implementation of such a system, including decentralised inter-robot localisation, mapping, data fusion and coordination. The system is demonstrated in an efficient distributed simulation. We also describe an UAS platform for hardware experiments, and the ongoing progress.
arXiv comment7 pages, 6 figures. Presented at ICRA2021 Workshop on Robot Swarms in the Real World: From Design to Deployment