Information Distribution in Multi-Robot Systems: Utility-Based Evaluation Model †

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.