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Communication is an important capability for multi-robot exploration because(1) inter-robot communication (comms) improves coverage efficiency and (2)robot-to-base comms improves situational awareness. Exploring comms-restricted(e.g., subterranean) environments requires a multi-robot system to tolerate andanticipate intermittent connectivity, and to carefully consider commsrequirements, otherwise mission-critical data may be lost. In this paper, wedescribe and analyze ACHORD (Autonomous & Collaborative High-BandwidthOperations with Radio Droppables), a multi-layer networking solution whichtightly co-designs the network architecture and high-level decision-making forimproved comms. ACHORD provides bandwidth prioritization and timely andreliable data transfer despite intermittent connectivity. Furthermore, itexposes low-layer networking metrics to the application layer to enable robotsto autonomously monitor, map, and extend the network via droppable radios, aswell as restore connectivity to improve collaborative exploration. We evaluateour solution with respect to the comms performance in several challengingunderground environments including the DARPA SubT Finals competitionenvironment. Our findings support the use of data stratification and flowcontrol to improve bandwidth-usage.

ACHORD: Communication-Aware Multi-Robot Coordination with Intermittent Connectivity