Multi-robot path planning for budgeted active perception with self-organising maps

@article{Best2016MultirobotPP,
  title={Multi-robot path planning for budgeted active perception with self-organising maps},
  author={Graeme Best and Jan Faigl and Robert Fitch},
  journal={2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2016},
  pages={3164-3171}
}
We propose a self-organising map (SOM) algorithm as a solution to a new multi-goal path planning problem for active perception and data collection tasks. We optimise paths for a multi-robot team that aims to maximally observe a set of nodes in the environment. The selected nodes are observed by visiting associated viewpoint regions defined by a sensor model. The key problem characteristics are that the viewpoint regions are overlapping polygonal continuous regions, each node has an observation… CONTINUE READING