| Autor: |
Gosrich, Walker, Mayya, Siddharth, Li, Rebecca, Paulos, James, Yim, Mark, Ribeiro, Alejandro, Kumar, Vijay |
| Rok vydání: |
2021 |
| Předmět: |
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| Druh dokumentu: |
Working Paper |
| Popis: |
This paper develops a decentralized approach to mobile sensor coverage by a multi-robot system. We consider a scenario where a team of robots with limited sensing range must position itself to effectively detect events of interest in a region characterized by areas of varying importance. Towards this end, we develop a decentralized control policy for the robots -- realized via a Graph Neural Network -- which uses inter-robot communication to leverage non-local information for control decisions. By explicitly sharing information between multi-hop neighbors, the decentralized controller achieves a higher quality of coverage when compared to classical approaches that do not communicate and leverage only local information available to each robot. Simulated experiments demonstrate the efficacy of multi-hop communication for multi-robot coverage and evaluate the scalability and transferability of the learning-based controllers. |
| Databáze: |
arXiv |
| Externí odkaz: |
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