Multi-target Coverage with Connectivity Maintenance using Knowledge-incorporated Policy Framework
Shiguang Wu Zhiqiang Pu Zhen Liu Tenghai Qiu Jianqiang Yi Tianle Zhang Shiguang Wu Zhiqiang Pu Zhen Liu Tenghai Qiu Jianqiang Yi Tianle Zhang
This paper considers a multi-target coverage problem where a robot team aims to efficiently cover multi-targets while maintaining connectivity in a distributed manner. A novel knowledge-incorporated policy framework is proposed to derive a distributed, efficient, and connectivity guaranteed coverage policy. In particular, a knowledge-guided policy network (KGPnet) is designed, which consists of ob...