Scalable Online Coverage Path Planning for Multi-Robot Systems
Ratijit Mitra,Indranil Saha,Ratijit Mitra,Indranil Saha
Online coverage path planning to explore an unknown workspace with multiple homogeneous robots could be either centralized or distributed. While distributed planners are computationally faster, centralized planners can produce more efficient paths, reducing the duration of completing a coverage mission significantly. To exploit the power of a centralized framework, we propose a receding horizon ce...
