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Literature Update (#5)
- Added relevant multi-robot exploration literature. - Removed some logos. license terms update
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‎LICENSE‎

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Copyright (c) 2020, Alysson Ribeiro da Silva
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All rights reserved.
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Noetic-Multi-Robot-Sandbox for multi-robot research using ROS Noetic
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Copyright (C) 2020 Alysson Ribeiro da Silva
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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1. Redistributions of source code must retain the above copyright notice, this
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list of conditions and the following disclaimer.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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2. Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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3. All advertising materials mentioning features or use of this software must
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display the following acknowledgement:
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This product includes software developed by Alysson Ribeiro da Silva.
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4. Neither the name of the copyright holder nor the names of its
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contributors may be used to endorse or promote products derived from
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this software without specific prior written permission.
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5. The source and the binary form, and any modifications made to them
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may not be used for the purpose of training or improving machine learning
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algorithms, including but not limited to artificial intelligence, natural
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language processing, or data mining. This condition applies to any derivatives,
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modifications, or updates based on the Software code. Any usage of the source
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or the binary form in an AI-training dataset is considered a breach of
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this License.
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THIS SOFTWARE IS PROVIDED BY COPYRIGHT HOLDER "AS IS" AND ANY EXPRESS OR
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IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
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MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO
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EVENT SHALL COPYRIGHT HOLDER BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
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OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
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WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
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OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
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ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.

‎README.md‎

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- [Nodes](docs/multi-robot-exploration.md)
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- [Multi-robot Guidelines](docs/multi-robot-guidelines.md)
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- [Documentation](https://github.com/multirobotplayground/Noetic-Sandbox-Docs)
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- [Relevant Literature in Multi-robot Exploration](docs/references.md)
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- [Contributing](docs/contributing.md)
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## [ROS-Noetic-Multi-robot-Sandbox](#ros-noetic-multi-robot-sandbox)
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## [Publications](#publications)
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If this workspace is somehow useful to you, consider reading this [letter](docs/motivation.md) and mentioning this paper accepted on IROS.
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If this workspace is somehow useful to you, consider mentioning this paper accepted on IROS.
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> A. R. da Silva, L. Chaimowicz, T. C. Silva, and A. Hsieh, Communication-Constrained Multi-Robot Exploration with Intermittent Rendezvous. 2024.
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}
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```
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## [Partnerships](#partnerships)
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<p align="center">
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<img src="docs/images/penn.png" alt="drawing" style="width:200px;"/>
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<img src="docs/images/scalar_logo.png" alt="drawing" style="width:200px;"/>
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<br>
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<img src="docs/images/ufmg-logo.png" alt="drawing" style="width:200px;"/>
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<img src="docs/images/dcc.png" alt="drawing" style="width:200px;"/>
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<img src="docs/images/verlab_logo.png" alt="drawing" style="width:200px;"/>
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</p>
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## [Acknowledgements](#acknowledge)
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The research paper [https://arxiv.org/abs/2309.13494](https://arxiv.org/abs/2309.13494) was supported by ARL DCIST CRA W911NF-17-2-0181 and Office of Naval Research (ONR) Award No. N00014-19-1-2253.
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<p align="center">
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<img src="docs/images/dcist.png" alt="drawing" style="width:200px;"/>
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<img src="docs/images/onr.jpg" alt="drawing" style="width:200px;"/>
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</p>
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It was also supported by CAPES, FAPEMIG, and CNPQ.
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<p align="center">
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<img src="docs/images/capes.png" alt="drawing" style="width:100px;"/>
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<img src="docs/images/fapemig.jpg" alt="drawing" style="width:120px;"/>
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<img src="docs/images/cnpq.png" alt="drawing" style="width:200px;"/>
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</p>
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The research paper [https://arxiv.org/abs/2309.13494](https://arxiv.org/abs/2309.13494) was supported by CAPES, FAPEMIG, CNPQ, and ARL DCIST CRA W911NF-17-2-0181.
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## [Support this Project](#support-this-project)
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Support Open Source mobile robots projects for search and rescue in natural disasters, which is my main motivation. Your donation will make a huge difference!
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Support Open Source mobile robots projects for search and rescue in natural disasters.
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[![Donate](docs/images/Donate-PayPal-green-usd.png)](https://www.paypal.com/donate/?business=YWAAG5LVWXBQC&no_recurring=0&item_name=Support+Open+Source+mobile+robots+projects+for+search+and+rescue+in+natural+disasters.+Your+donation+can+change+lives%21&currency_code=USD)
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[![Donate](docs/images/Donate-PayPal-green-brl.png)](https://www.paypal.com/donate/?business=YWAAG5LVWXBQC&no_recurring=0&item_name=Support+Open+Source+mobile+robots+projects+for+search+and+rescue+in+natural+disasters.+Your+donation+can+change+lives%21&currency_code=BRL)
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## [License](#license)
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All content from this repository is released under a modified [BSD 4-clause license](LICENSE).
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All content from this repository is released under a [GPLv3 license](LICENSE).
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Author/Maintainer:
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‎docs/references.md‎

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# Related Works
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This is a complementary literature review for the research paper: [https://arxiv.org/abs/2309.13494](https://arxiv.org/abs/2309.13494)
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There are several strategies to solve the Multi-robot Exploration and share information with other agents. For example, one might let the robots explore and meet opportunistically [[1](https://www.sciencedirect.com/science/article/abs/pii/S0921889099000469),[2](https://dl.acm.org/doi/10.5555/647288.723404),[3](https://ieeexplore.ieee.org/document/844100),[4](https://ieeexplore.ieee.org/document/1013690),[5](https://ieeexplore.ieee.org/document/10341485)]. Differently, a base station can be used to ensure that the information is gathered and shared at a specific rate [[6](https://ieeexplore.ieee.org/document/5980179), [7](https://link.springer.com/chapter/10.1007/978-3-662-43645-5_5), [8](https://ieeexplore.ieee.org/document/9361138)]. Another approach would be to let the robots remain connected and move as a structure that can adapt to accomplish tasks [[9](https://ieeexplore.ieee.org/document/7889035), [10](https://ieeexplore.ieee.org/document/8610112), [11](https://ieeexplore.ieee.org/document/9197109), [12](https://ieeexplore.ieee.org/document/9683512)]. Additionally, a relay network can be used, where some robots act as data mules or static network relays [[13](https://ieeexplore.ieee.org/document/9837416)]. As an alternative, robots can plan their trajectories to be intermittently connected [[14](https://ieeexplore.ieee.org/document/6177277), [15](https://ieeexplore.ieee.org/document/8612974), [16](https://ieeexplore.ieee.org/document/9341636)]. These strategies have their advantages in meeting some requirements. However, they can also introduce constraints into the robots’ motion, which is what we try to avoid.
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# References
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[[1] B. Yamauchi, “Decentralized coordination for multirobot exploration,” Robotics and Autonomous Systems, vol. 29, no. 2, pp. 111–118, 1999.[Online]. Available: https://www.sciencedirect.com/science/article/pii/S0921889099000469](https://www.sciencedirect.com/science/article/abs/pii/S0921889099000469)
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[[2] R. Simmons, D. Apfelbaum, W. Burgard, M. Fox, D. an Moors, S. Thrun, and H. Younes, “Coordination for multi-robot exploration and mapping,” in Proceedings of the AAAI National Conference on Artificial Intelligence. Austin, TX: AAAI, 2000.](https://dl.acm.org/doi/10.5555/647288.723404)
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[[3] W. Burgard, M. Moors, D. Fox, R. Simmons, and S. Thrun, “Collaborative multi-robot exploration,” in Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), vol. 1, 2000, pp. 476–481 vol.1.](https://ieeexplore.ieee.org/document/844100)
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[[4] R. Zlot, A. Stentz, M. Dias, and S. Thayer, “Multi-robot exploration controlled by a market economy,” in Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292), vol. 3, 2002, pp. 3016–3023 vol.3.](https://ieeexplore.ieee.org/document/1013690)
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[[5] S. Bone, L. Bartolomei, F. Kennel-Maushart, and M. Chli, “Decentralised multi-robot exploration using monte carlo tree search,” in 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023, pp. 7354–7361.](https://ieeexplore.ieee.org/document/10341485)
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[[6] E. Stump, N. Michael, V. Kumar, and V. Isler, “Visibility-based deployment of robot formations for communication maintenance,” in 2011 IEEE International Conference on Robotics and Automation, 2011, pp. 4498–4505.](https://ieeexplore.ieee.org/document/5980179)
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[[7] V. Spirin, S. Cameron, and J. de Hoog, “Time preference for information in multi-agent exploration with limited communication,” in Towards Autonomous Robotic Systems, A. Natraj, S. Cameron, C. Melhuish, and M. Witkowski, Eds. Berlin, Heidelberg: Springer Berlin Heidelberg, 2014, pp. 34–45.](https://link.springer.com/chapter/10.1007/978-3-662-43645-5_5)
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[[8] L. Clark, J. Galante, B. Krishnamachari, and K. Psounis, “A queue stabilizing framework for networked multi-robot exploration,” IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 2091–2098, 2021.](https://ieeexplore.ieee.org/document/9361138)
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[[9] A. Gasparri, L. Sabattini, and G. Ulivi, “Bounded control law for global connectivity maintenance in cooperative multirobot systems,” IEEE Transactions on Robotics, vol. 33, no. 3, pp. 700–717, 2017.](https://ieeexplore.ieee.org/document/7889035)
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[[10] K. Khateri, M. Pourgholi, M. Montazeri, and L. Sabattini, “A comparison between decentralized local and global methods for connectivity maintenance of multi-robot networks,” IEEE Robotics and Automation Letters, vol. 4, no. 2, pp. 633–640, 2019.](https://ieeexplore.ieee.org/document/8610112)
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[[11] B. Capelli and L. Sabattini, “Connectivity maintenance: Global and optimized approach through control barrier functions,” in 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, pp. 5590–5596.](https://ieeexplore.ieee.org/document/9197109)
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[[12] P. Ong, B. Capelli, L. Sabattini, and J. Cort´es, “Network connectivity maintenance via nonsmooth control barrier functions,” in 2021 60th IEEE CDC, 2021, pp. 4786–4791.](https://ieeexplore.ieee.org/document/9683512)
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[[13] M. Saboia, L. Clark, V. Thangavelu, J. A. Edlund, K. Otsu, G. J. Correa, V. S. Varadharajan, A. Santamaria-Navarro, T. Touma, A. Bouman, H. Melikyan, T. Pailevanian, S.-K. Kim, A. Archanian, T. S. Vaquero, G. Beltrame, N. Napp, G. Pessin, and A.-a. Agha-mohammadi, “Achord: Communication-aware multi-robot coordination with intermittent connectivity,” IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 10 184–10 191, 2022.](https://ieeexplore.ieee.org/document/9837416)
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[[14] G. A. Hollinger and S. Singh, “Multirobot coordination with periodic connectivity: Theory and experiments,” IEEE Transactions on Robotics, vol. 28, no. 4, pp. 967–973, 2012.](https://ieeexplore.ieee.org/document/6177277)
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[[15] Y. Kantaros, M. Guo, and M. M. Zavlanos, “Temporal logic task planning and intermittent connectivity control of mobile robot networks,” IEEE Trans. on Automatic Control, vol. 64, no. 10, pp. 4105–4120, 2019.](https://ieeexplore.ieee.org/document/8612974)
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[[16] H. Rovina, T. Salam, Y. Kantaros, and M. Ani Hsieh, “Asynchronous adaptive sampling and reduced-order modeling of dynamic processes by robot teams via intermittently connected networks,” in 2020 IEEE/RSJ IROS, 2020, pp. 4798–4805.](https://ieeexplore.ieee.org/document/9341636)

‎src/multirobotexploration/config/gazebo_robots_start_pose.yaml‎

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# Noetic-Multi-Robot-Sandbox for multi-robot research using ROS Noetic
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# Copyright (C) 2023 Alysson Ribeiro da Silva
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#
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# This program is free software: you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation, either version 3 of the License, or
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# (at your option) any later version.
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#
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# This program is distributed in the hope that it will be useful,
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# but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# GNU General Public License for more details.
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#
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# You should have received a copy of the GNU General Public License
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# along with this program. If not, see <http://www.gnu.org/licenses/>.
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start_pose_robot_0: {x: 0, y: 0, z: 0, theta: 0}
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start_pose_robot_1: {x: 0, y: 0, z: 0, theta: 0}
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start_pose_robot_2: {x: 0, y: 0, z: 0, theta: 0}

‎src/multirobotexploration/config/rendezvous_footprint.yaml‎

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# Noetic-Multi-Robot-Sandbox for multi-robot research using ROS Noetic
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# Copyright (C) 2023 Alysson Ribeiro da Silva
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#
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# This program is free software: you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation, either version 3 of the License, or
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# (at your option) any later version.
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#
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# This program is distributed in the hope that it will be useful,
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# but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# GNU General Public License for more details.
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#
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# You should have received a copy of the GNU General Public License
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# along with this program. If not, see <http://www.gnu.org/licenses/>.
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footprint_robot_0: {x: -1, y: 1, z: 0, theta: 0}
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footprint_robot_1: {x: 1, y: 1, z: 0, theta: 0}
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footprint_robot_2: {x: 1, y: -1, z: 0, theta: 0}

‎src/multirobotexploration/config/rendezvous_plan.yaml‎

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# Noetic-Multi-Robot-Sandbox for multi-robot research using ROS Noetic
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# Copyright (C) 2023 Alysson Ribeiro da Silva
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#
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# This program is free software: you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation, either version 3 of the License, or
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# (at your option) any later version.
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#
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# This program is distributed in the hope that it will be useful,
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# but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# GNU General Public License for more details.
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#
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# You should have received a copy of the GNU General Public License
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# along with this program. If not, see <http://www.gnu.org/licenses/>.
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# Width of the plan is used to get the number of agreements
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# and iterate over the matrix.
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width: 3

‎src/multirobotexploration/include/common/Common.h‎

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/*
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* Copyright (c) 2020, Alysson Ribeiro da Silva
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* All rights reserved.
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* Noetic-Multi-Robot-Sandbox for multi-robot research using ROS Noetic
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* Copyright (C) 2020 Alysson Ribeiro da Silva
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* 1. Redistributions of source code must retain the above copyright notice, this
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* list of conditions and the following disclaimer.
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* 2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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*
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* 3. All advertising materials mentioning features or use of this software must
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* display the following acknowledgement:
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* This product includes software developed by Alysson Ribeiro da Silva.
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*
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* 4. Neither the name of the copyright holder nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* 5. The source and the binary form, and any modifications made to them
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* may not be used for the purpose of training or improving machine learning
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* algorithms, including but not limited to artificial intelligence, natural
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* language processing, or data mining. This condition applies to any derivatives,
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* modifications, or updates based on the Software code. Any usage of the source
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* or the binary form in an AI-training dataset is considered a breach of
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* this License.
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*
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* THIS SOFTWARE IS PROVIDED BY COPYRIGHT HOLDER "AS IS" AND ANY EXPRESS OR
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* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
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* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO
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* EVENT SHALL COPYRIGHT HOLDER BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
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* OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
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* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
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* OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
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* ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef COMMON_H

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