Exploring Communication in Marine Multi-robot Systems Using an Adaptive Response Threshold Model

摘要: This article focuses on the communication aspects of Marine Multi-Robot Systems (MMRS). A new MMRS coordination approach is proposed where a heterogeneous group of marine vehicles must explore an unknown area and communicate the gathered information to a central agent. This article proposes a new decision making approach based on the Adaptive Response Threshold Method (ARTM), particularly suitable for environments with limited communication capabilities such as the marine environment, in order to decide when to communicate. To assess the effectiveness of our approach, a series of experiments have been conducted integrating real acoustic communication signal model as an input to the ARTM. Based on our findings, we can confidently conclude that the fusion of various parameters, including a real characterization of the communication signal, as inputs to the Adaptive Response Threshold Model (ARTM) achieves the optimal trade-off performance in terms of MMRS.