Free-Space Ellipsoid Graphs for Multi-Agent Target Monitoring
Aaron Ray,Alyssa Pierson,Daniela Rus,Aaron Ray,Alyssa Pierson,Daniela Rus
We apply a novel framework for decomposing and reasoning about free space in an environment to a multi-agent persistent monitoring problem. Our decomposition method represents free space as a collection of ellipsoids associated with a weighted connectivity graph. The same ellipsoids used for reasoning about connectivity and distance during high level planning can be used as state constraints in a ...
