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Adaptive Multi-Robot Wide-Area Exploration And Mapping, Kian Hsiang Low, John Dolan, Pradeep Khosla
Adaptive Multi-Robot Wide-Area Exploration And Mapping, Kian Hsiang Low, John Dolan, Pradeep Khosla
Pradeep K Khosla
The exploration problem is a central issue in mobile robotics. A complete terrain coverage is not practical if the environment is large with only a few small hotspots. This paper presents an adaptive multi-robot exploration strategy that is novel in performing both wide-area coverage and hotspot sampling using non-myopic path planning. As a result, the environmental phenomena can be accurately mapped. It is based on a dynamic programming formulation, which we call the Multi-robot Adaptive Sampling Problem (MASP). A key feature of MASP is in covering the entire adaptivity spectrum, thus allowing strategies of varying adaptivity to be formed and …