Multi-Robot Coverage and Exploration using Spatial Graph Neural Networks
Ekaterina Tolstaya,James Paulos,Vijay Kumar,Alejandro Ribeiro,Ekaterina Tolstaya,James Paulos,Vijay Kumar,Alejandro Ribeiro
The multi-robot coverage problem is an essential building block for systems that perform tasks like inspection, exploration, or search and rescue. We discretize the coverage problem to induce a spatial graph of locations and represent robots as nodes in the graph. Then, we train a Graph Neural Network controller that leverages the spatial equivariance of the task to imitate an expert open-loop rou...
