Multi-robot informative path planning in unknown environments through continuous region partitioning

We consider the NP-hard problem of multirobot informative path planning in the presence of communication constraints, where the objective is to collect higher amounts of information of an ambient phenomenon. We propose a novel approach that uses continuous region partitioning into Voronoi components...

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Bibliographic Details
Published inInternational journal of advanced robotic systems Vol. 17; no. 6; p. 172988142097046
Main Authors Dutta, Ayan, Bhattacharya, Amitabh, Kreidl, O Patrick, Ghosh, Anirban, Dasgupta, Prithviraj
Format Journal Article
LanguageEnglish
Published London, England SAGE Publications 01.11.2020
Sage Publications Ltd
SAGE Publishing
Subjects
Multiple robots
Partitioning
Path planning
Robots
Unknown environments
Voronoi partitioning
information collection
path planning
Multirobot system
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Summary:We consider the NP-hard problem of multirobot informative path planning in the presence of communication constraints, where the objective is to collect higher amounts of information of an ambient phenomenon. We propose a novel approach that uses continuous region partitioning into Voronoi components to efficiently divide an initially unknown environment among the robots based on newly discovered obstacles enabling improved load balancing between robots. Simulation results show that our proposed approach is successful in reducing the initial imbalance of the robots’ allocated free regions while ensuring close-to-reality spatial modeling within a reasonable amount of time.
ISSN:1729-8806
1729-8814
1729-8814
DOI:10.1177/1729881420970461