We present an algorithm for multi-robot coverage of an initially unknown spatial scalar field characterized by a density function, whereby a team of robots simultaneously estimates and optimizes its coverage of the density function over the domain. The proposed algorithm borrows powerful concepts from Bayesian Optimization with Gaussian Processes that, when combined with control laws to achieve centroidal Voronoi tessellation, give rise to an adaptive sequential sampling method to explore and cover the domain. The crux of the approach is to apply a control law using a surrogate function of the true density function, which is then successively refined as robots gather more samples for estimation. The performance of the algorithm is justified theoretically under slightly idealized assumptions, by demonstrating asymptotic no-regret with respect to the coverage obtained with a known density function. The performance is also evaluated in simulation and on the Robotarium with small teams of robots, confirming the good performance suggested by the theoretical analysis.


    Access

    Download


    Export, share and cite



    Title :

    Multi-Robot Coordination for Estimation and Coverage of Unknown Spatial Fields



    Publication date :

    2020-01-01



    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    A Frontier Based Multi-Robot Approach for Coverage of Unknown Environments

    MUDDU, RAJA SANKAR DILEEP | BASE | 2015

    Free access


    Efficient Spatial Coordination for Multi-Robot Exploration

    Perez-Arista, Omar Vicente / Nunez-Cruz, Rafael Stanley / Antonio-Yanez, Elba Dolores | IEEE | 2023


    Coverage Control for Exploration of Unknown Non-convex Environments with Limited Range Multi-robot Systems

    Catellani, Mattia / Pratissoli, Federico / Bertoncelli, Filippo et al. | Springer Verlag | 2024


    Multi-Vehicle Coordination in an Unknown Flowfield

    Peterson, C. / Paley, D. / American Institute of Aeronautics and Astronautics | British Library Conference Proceedings | 2010