Coverage Control in Multi-Robot Systems via Graph Neural Networks
Walker Gosrich,Siddharth Mayya,Rebecca Li,James Paulos,Mark Yim,Alejandro Ribeiro,Vijay Kumar,Walker Gosrich,Siddharth Mayya,Rebecca Li,James Paulos,Mark Yim,Alejandro Ribeiro,Vijay Kumar
This paper develops a decentralized approach to mobile sensor coverage by a multi-robot system. We consider a scenario where a team of robots with limited sensing range must position itself to effectively detect events of interest in a region characterized by areas of varying importance. Towards this end, we develop a decentralized control policy for the robots-realized via a Graph Neural Network-...
