Optimization-Based Robot Team Exploration Considering Attrition and Communication Constraints
Matthew A. Schack,John G. Rogers,Qi Han,Neil T. Dantam,Matthew A. Schack,John G. Rogers,Qi Han,Neil T. Dantam
Exploring robots may fail due to environmental hazards. Thus, robots need to account for the possibility of failure to plan the best exploration paths. Optimizing expected utility enables robots to find plans that balance achievable reward with the inherent risks of exploration. Moreover, when robots rendezvous and communicate to exchange observations, they increase the probability that at least o...
