Gathering Data from Risky Situations with Pareto-Optimal Trajectories
Brennan Brodt,Alyssa Pierson,Brennan Brodt,Alyssa Pierson
This paper proposes a formulation for the risk-aware path planning problem which utilizes multi-objective optimization to dynamically plan trajectories that satisfy multiple complex mission specifications. In the setting of persistent monitoring, we develop a method for representing environmental information and risk in a way that allows for local sampling to generate Pareto-dominant solutions ove...
