Event
HEHA: A Constrained Routing Planning Method for Heterogeneous Multi-Robot Exploration
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Longrui Yang et al. proposed a hierarchical exploration framework, HEHA, and its global routing algorithm, RCH, to solve the constrained multi-Hamiltonian path problem (mHPP) in unknown-environment exploration by UAVs, wheeled robots, and legged robots. RCH quickly computes a bounded suboptimal solution under traversability constraints, minimizing the maximum path length (makespan) among the robots, and on that basis allocates the regions to be explored and the visiting order. The paper states that when heterogeneous traversability is present, the makespan of the mHPP solved by RCH is up to 47% smaller than that of several baselines, and HEHA's exploration time is up to 30% shorter than that of existing methods.
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- HEHA: Bounded Suboptimal Constrained Path Planning for Heterogeneous Multi-Robot Exploration of Unknown Environments
HEHA (Hierarchical Exploration with Heterogeneous Agents) proposes a hierarchical framework that uses a new routing algorithm, RCH (Routing with Constraints and Heterogeneity), to quickly solve large-scale multiple Hamiltonian path problems (mHPP) with traversability constraints, assigning areas to be explored to drones, wheeled robots, and legged robots and determining the order in which those areas are visited.
arXiv cs.RO ·