@article {411,
	title = {Multi-robot online sensing strategies for the construction of communication maps},
	journal = {Autonomous Robots},
	volume = {44},
	year = {2020},
	month = {Jan-03-2020},
	pages = {299 - 319},
	abstract = {This paper tackles the problem of constructing a communication map of a known environment using multiple robots. A communication map encodes information on whether two robots can communicate when they are at two arbitrary locations and plays a fundamental role for a multi-robot system deployment to reliably and effectively achieve a variety of tasks, such as environmental monitoring and exploration. Previous work on communication map building typically considered only scenarios with a fixed base station and designed offline methods, which did not exploit data collected online by the robots. This paper proposes Gaussian Process-based online methods to efficiently build a communication map with multiple robots. Such robots form a mesh network, where there is no fixed base station. Specifically, we provide two leader-follower online sensing strategies to coordinate and guide the robots while collecting data. Furthermore, we improve the performance and computational efficiency by exploiting prior communication models that can be built from the physical map of the environment. Extensive experimental results in simulation and with a team of TurtleBot 2 platforms validate the approach.},
	keywords = {Communication maps, Multi-robot systems, Sensing strategies},
	issn = {0929-5593},
	doi = {10.1007/s10514-019-09862-3},
	url = {http://link.springer.com/10.1007/s10514-019-09862-3},
	author = {Quattrini~Li, Alberto and Penumarthi, Phani Krishna and Banfi, Jacopo and Basilico, Nicola and O{\textquoteright}Kane, Jason M. and Rekleitis, Ioannis and Nelakuditi, Srihari and Amigoni, Francesco}
}
@book {414,
	title = {Online Update of Communication Maps for Exploring Multirobot Systems Under Connectivity Constraints},
	series = {Springer Proceedings in Advanced Robotics - Distributed Autonomous Robotic Systems},
	volume = {9},
	year = {2019},
	pages = {513 - 526},
	publisher = {Springer International Publishing},
	organization = {Springer International Publishing},
	address = {Cham},
	keywords = {Communication, Exploration, Multirobot systems},
	isbn = {978-3-030-05815-9},
	issn = {2511-1256},
	doi = {10.1007/978-3-030-05816-610.1007/978-3-030-05816-6_36},
	url = {http://link.springer.com/10.1007/978-3-030-05816-6},
	author = {Amigoni, Francesco and Banfi, Jacopo and Basilico, Nicola and Rekleitis, Ioannis and Quattrini~Li, Alberto},
	editor = {Correll, Nikolaus and Schwager, Mac and Otte, Michael}
}
@conference {212,
	title = {Minimizing communication latency in multirobot situation-aware patrolling},
	booktitle = {Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on},
	year = {2015},
	publisher = {IEEE},
	organization = {IEEE},
	author = {Banfi, Jacopo and Basilico, Nicola and Amigoni, Francesco}
}
