Multi-Robot Collaborative Perception With Graph Neural Networks

• Published in: IEEE robotics and automation letters Vol. 7; no. 2; pp. 2289 - 2296
• Main Authors: Zhou, Yang, Xiao, Jiuhong, Zhou, Yue, Loianno, Giuseppe
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 01.04.2022; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Aerial systems applications; Decision making; deep learning for visual perception; Encoding; Estimation; Failure; Graph neural networks; Image segmentation; Inference; Multiple robots; Neural networks; Resilience; Robot kinematics; Robot sensing systems; Robots; Semantics; Situational awareness; Task analysis; Visual perception

Multi-robot systems such as swarms of aerial robots are naturally suited to offer additional flexibility, resilience, and robustness in several tasks compared to a single robot by enabling cooperation among the agents. To enhance the autonomous robot decision-making process and situational awareness...