Decentralized Learning With Limited Communications for Multi-robot Coverage of Unknown Spatial Fields
Kensuke Nakamura,María Santos,Naomi Ehrich Leonard,Kensuke Nakamura,María Santos,Naomi Ehrich Leonard
This paper presents an algorithm for a team of mobile robots to simultaneously learn a spatial field over a domain and spatially distribute themselves to optimally cover it. Drawing from previous approaches that estimate the spatial field through a centralized Gaussian process, this work leverages the spatial structure of the coverage problem and presents a decentralized strategy where samples are...
