Obscuring Objectives with Pareto-Optimal Privacy-Aware Trajectories in Multi-Robot Coverage
Brennan Brodt,Alyssa Pierson,Brennan Brodt,Alyssa Pierson
This paper proposes an algorithm for generating Pareto-optimal privacy-aware trajectories for multi-robot coverage. Our approach utilizes a genetic algorithm to generate a set of modified trajectories for a team of robots that wishes to obscure its goal from an observer. A novel velocity-constrained crossover algorithm ensures all child trajectories are feasible for a holonomic vehicle. The Pareto...
