Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: PropEM-L: Radio Propagation Environment Modeling and Learning for
  Communication-Aware Multi-Robot Exploration   Multi-robot exploration of complex, unknown environments benefits from the
collaboration and cooperation offered by inter-robot communication. Accurate
radio signal strength prediction enables communication-aware exploration.
Models which ignore the effect of the environment on signal propagation or rely
on a priori maps suffer in unknown, communication-restricted (e.g.
subterranean) environments. In this work, we present Propagation Environment
Modeling and Learning (PropEM-L), a framework which leverages real-time
sensor-derived 3D geometric representations of an environment to extract
information about line of sight between radios and attenuating walls/obstacles
in order to accurately predict received signal strength (RSS). Our data-driven
approach combines the strengths of well-known models of signal propagation
phenomena (e.g. shadowing, reflection, diffraction) and machine learning, and
can adapt online to new environments. We demonstrate the performance of
PropEM-L on a six-robot team in a communication-restricted environment with
subway-like, mine-like, and cave-like characteristics, constructed for the 2021
DARPA Subterranean Challenge. Our findings indicate that PropEM-L can improve
signal strength prediction accuracy by up to 44% over a log-distance path loss
model.

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The categories of this paper are: q-alg
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The categories of this paper are: nucl-ex
3
The categories of this paper are: physics
2
The categories of this paper are: math
27
The categories of this paper are: comp-gas
35
The categories of this paper are: mtrl-th
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The categories of this paper are: chao-dyn
4
The categories of this paper are: cond-mat
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The categories of this paper are: gr-qc
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The categories of this paper are: econ
6
The categories of this paper are: astro-ph
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The categories of this paper are: acc-phys
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The categories of this paper are: hep-lat
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The categories of this paper are: adap-org
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The categories of this paper are: alg-geom
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The categories of this paper are: plasm-ph