Scalable Distributed Planning for Multi-Robot, Multi-Target Tracking
Micah Corah,Nathan Michael,Micah Corah,Nathan Michael
In multi-robot multi-target tracking, robots coordinate to monitor groups of targets moving about an environment. We approach planning for such scenarios by formulating a receding-horizon, multi-robot sensing problem with a mutual information objective. Such problems are NP-Hard in general. Yet, our objective is submodular which enables certain greedy planners to guarantee constant-factor suboptim...
