An Evaluation Model for Information Distribution in Multi-Robot Systems.

This work addresses the problem of information distribution in multi-robot systems, with an emphasis on multi-UAV (unmanned aerial vehicle) applications. We present an analytical model that helps evaluate and compare different information distribution schemes in a robotic mission. It serves as a unified framework to represent the usefulness (utility) of each message exchanged by the robots. It can be used either on its own in order to assess the information distribution efficacy or as a building block of solutions aimed at optimizing information distribution. Moreover, we present multiple examples of instantiating the model for specific missions. They illustrate various approaches to defining the utility of different information types. Finally, we introduce a proof of concept showing the applicability of the model in a robotic system by implementing it in Robot Operating System 2 (ROS 2) and performing a simple simulated mission using a network emulator. We believe the introduced model can serve as a basis for further research on generic solutions for assessing or optimizing information distribution.

Secure transport and adaptation of MC-EZBC video utilizing H.264-based transport protocols.

Universal Multimedia Access (UMA) calls for solutions where content is created once and subsequently adapted to given requirements. With regard to UMA and scalability, which is required often due to a wide variety of end clients, the best suited codecs are wavelet based (like the MC-EZBC) due to their inherent high number of scaling options. However, most transport technologies for delivering videos to end clients are targeted toward the H.264/AVC standard or, if scalability is required, the H.264/SVC. In this paper we will introduce a mapping of the MC-EZBC bitstream to existing H.264/SVC based streaming and scaling protocols. This enables the use of highly scalable wavelet based codecs on the one hand and the utilization of already existing network technologies without accruing high implementation costs on the other hand. Furthermore, we will evaluate different scaling options in order to choose the best option for given requirements. Additionally, we will evaluate different encryption options based on transport and bitstream encryption for use cases where digital rights management is required.

Information Distribution in Multi-Robot Systems: Generic, Utility-Aware Optimization Middleware.

This work addresses the problem of what information is worth sending in a multi-robot system under generic constraints, e.g., limited throughput or energy. Our decision method is based on Monte Carlo Tree Search. It is designed as a transparent middleware that can be integrated into existing systems to optimize communication among robots. Furthermore, we introduce techniques to reduce the decision space of this problem to further improve the performance. We evaluate our approach using a simulation study and demonstrate its feasibility in a real-world environment by realizing a proof of concept in ROS 2 on mobile robots.