情報考慮型イベント駆動再配置によるマルチロボット探索
EARS-Info: Information-Aware Event-Driven Reallocation for Multi-Robot Exploration
OSM由来グリッド上のマルチロボット探索で、情報利得や経路・予約を考慮したイベント駆動再配置手法EARS-Infoを提案し、8都市・大規模実験でスコアと探索率の向上、省エネを実証した。
著者: Kabeh Mohsenzadegan, Vahid Tavakkoli, Kyandoghere Kyamakya
分類: cs.RO, cs.AI, cs.MA
原文アブストラクト
We introduce EARS-Info, an information-aware extension of Event-Driven Ant Reallocation Search for multi-robot exploration on OpenStreetMap-derived grids. It combines marginal sensing gain, feasible relocation, return-aware routing, sensing reservations, and cached shortest paths. Across 168,000 episodes comparing 30 implementations on eight city maps, EARS-Info achieves the highest mean operational score in every evaluation panel. With eight robots and 3% communication dropout, it improves the score over EARS-Safe by 5.43%, increases weighted discovery from 88.88% to 98.46%, and reduces mean energy use by 2.62%. Score differences are positive in all eight cities ($p=0.0078125$; descriptive 95% city-bootstrap interval $[0.0159,0.0694]$), with no simulated incidents across 5,600 EARS-Info episodes. These results support the complete controller; individual component advantages remain uncertain. Generalization is limited by reused geography, one training replicate, coarse maps, and adapted comparison methods.