Multi-Robot Persistent Environmental Monitoring Based on Constraint-Driven Execution of Learned Robot Tasks
Gennaro Notomista,Claudio Pacchierotti,Paolo Robuffo Giordano,Gennaro Notomista,Claudio Pacchierotti,Paolo Robuffo Giordano
This paper considers a multi-robot team tasked with monitoring an environmental field of interest over long time horizons. The approach is based on a control-theoretic measure of the information collected by the robots, namely a norm of the constructability Gramian. This measure is leveraged in order to learn a distributed multi-robot control policy using the reinforcement learning paradigm. The l...
