A Concept of Layered Robust Communication between Robots in Multi-agent Search & Rescue Scenarios

This paper introduces an approach for the use of direct and indirect communication between robots for a robust communication framework in a multi-agent scenario. This approach is granting the robots access to a defined minimum of information via indirect communication that is needed to fulfill the needs of the underlying navigation or exploration algorithm and creating a robust mechanism that does not suffer the drawbacks of direct communication via radio signals or light waves. It also allows the agents to access a higher level of communication via creating an ad hoc network for the exchange of additional information which would enhance the communication and cooperation between the agents. This will enable the underlying algorithm to access added information which can be used to significantly boost the navigation or exploration process, while not relying on this high level of communication.