SCRIBE (Signal-aware Collaboration for Reliable Information-based Estimation) is a distributed environment-modeling framework for robotic exploration under limited and intermittent communication. It combines fixed-dimensional spatial models with information filtering, Covariance Intersection, and asynchronous consensus so that robots can learn locally and safely fuse their models when communication becomes available.
The method, its distributed update, and the current experimental results are presented in the SCRIBE workshop paper. The LaTeX source and experiment scripts are available in the same directory.
Runnable demonstrations are collected in the examples directory. They include Gaussian scalar-field and EOF climate models, model prediction and visualization, and information-based exploration with VulcanJ.
The example and workshop environments expect VulcanJ to be checked out next
to this repository. From the SCRIBE root, install the example environment with
the script matching your Julia version:
-
Julia 1.10:
examples/install_1_10.jljulia examples/install_1_10.jl -
Julia 1.11 or later:
examples/install_1_11.jljulia examples/install_1_11.jl
Append --precompile to either command to precompile the environment during
installation. To reproduce the workshop experiments, invoke the corresponding
workshop script instead:
# Julia 1.10
julia iros-workshop-rose26/install_1_10.jl
# Julia 1.11 or later
julia iros-workshop-rose26/install_1_11.jlThe workshop installers are available here for Julia 1.10 and Julia 1.11 or later.