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arXiv · 2106.09219

Decentralised Intelligence, Surveillance, and Reconnaissance in Unknown Environments with Heterogeneous Multi-Robot Systems

Ki Myung Brian Lee·Felix H. Kong·Ricardo Cannizzaro·Jennifer L. Palmer·David Johnson·Chanyeol Yoo·Robert Fitch
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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.

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Ki Myung Brian Lee, Felix H. Kong, Ricardo Cannizzaro, Jennifer L. Palmer, David Johnson, Chanyeol Yoo, Robert Fitch. 2021-06-17. Decentralised Intelligence, Surveillance, and Reconnaissance in Unknown Environments with Heterogeneous Multi-Robot Systems. https://arxiv.org/abs/2106.09219

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