To relax communication constraints in the proposed multi-robot system, several strategies can be employed. One approach is to implement multi-hop communication, where robots can relay information to one another through intermediate robots. This can be achieved by establishing a communication protocol that allows robots to share their occupancy maps, candidate actions, and observed targets with nearby robots, which in turn can pass this information to others that are out of direct communication range. This would significantly enhance the information-sharing capabilities of the multi-robot system, allowing for more coordinated and efficient planning.
Asynchronous updates can also be introduced, enabling robots to operate independently while still sharing relevant information when they come into communication range. This can be facilitated by maintaining a shared knowledge base that is updated whenever a robot communicates with another. By allowing robots to act on their local observations and update their plans based on the latest information received, the overall efficiency of the multi-robot system can be improved, particularly in environments with high communication latency or intermittent connectivity.