Intermittent diffusion-based path planning for heterogeneous groups of mobile sensors in cluttered environments
Christina Frederick,Haomin Zhou,Frank Crosby,Christina Frederick,Haomin Zhou,Frank Crosby
This paper presents a method for task-oriented path planning and collision avoidance for a group of heterogeneous holonomic mobile sensors. It is a generalization of the authors' prior work on diffusion-based path planning. The proposed variant allows one to plan paths in environments cluttered with obstacles. The agents follow flow dynamics, i.e., the negative gradient of a function that is the s...
