In this paper we describe an automated planning system that selects the optimal target location to drop a communication node in an unknown cave environment to maximize communication coverage while minimizing the risk of violating safety constraints for all robots traversing the area based on local environmental and operational constraints.


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    Title :

    Traversability-aware Signal Coverage Planning for Communication Node Deployment in Planetary Cave Exploration



    Publication date :

    2020-10-19


    Type of media :

    Preprint


    Type of material :

    No indication


    Language :

    English



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