Multi-robot Informative Path Planning using a Leader-Follower Architecture
Gianni A. Di Caro Abdul Wahab Ziaullah Yousaf Gianni A. Di Caro Abdul Wahab Ziaullah Yousaf
We consider typical scenarios where an autonomous multi-robot team is used for surveying a large region. The desired output is a spatial map of the physical values of interest. Accounting for spatial correlation and uncertainty, the map is modeled using a Gaussian Process. Considering real-world constraints such as limited time budget and collision avoidance, we model team’s mission as a joint inf...