On the Usage of General-Purpose Compression Techniques for the Optimization of Inter-Robot Communication

G. S. Martins, D. Portugal and R. P. Rocha

In J. Filipe, O. Gusikhin, K. Madani, J. Sasiadek (editors), Informatics in Control, Automation and Robotics, Lecture Notes in Electrical Engineering (LNEE) series, vol. 370, pp. 223-240, Springer-Verlag, Nov. 2015. DOI: 10.1007/978-3-319-26453-0_13

Abstract

Managing the bandwidth requirements of a team of robots operating cooperatively is an ubiquitous and commonly overlooked problem, despite being a crucial issue in the successful deployment of robotic teams. As the team’s size grows, its bandwidth requirements can easily rise to unsustainable levels. On the other hand, general-purpose compression techniques are commonly used to transmit data through constrained communication channels, and may offer a solution to this problem. In this paper, we study the possibility of using general-purpose compression techniques to improve the efficiency of inter-robot communication, firstly by comparing the performance of various compression techniques in the context a of multi-robot simultaneous localization and mapping (SLAM) scenarios using simplified occupancy grids, and secondly by performing tests with one of the compression techniques on real-world data.

Index Terms — Compression methods; multi-robot systems; efficient information sharing.

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BibTeX

@INCOLLECTION(Martins_et_al_15,

AUTHOR = "G. S. Martins, D. Portugal and R. P. Rocha",

TITLE = "On the Usage of General-Purpose Compression Techniques for the Optimization of Inter-Robot Communication",

BOOKTITLE = "Informatics in Control, Automation and Robotics, Lecture Notes in Electrical Engineering (LNEE) series, vol. 370",

PUBLISHER = "Springer Verlag",

YEAR = "2015",

EDITOR = "J. Filipe, O. Gusikhin, K. Madani and J. Sasiadek",

PAGES = "223-240"

)

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Last update: 06/11/2014