Online Submodular Coordination With Bounded Tracking Regret: Theory, Algorithm, and Applications to Multi-Robot Coordination

  title={Online Submodular Coordination With Bounded Tracking Regret: Theory, Algorithm, and Applications to Multi-Robot Coordination},
  author={Zirui Xu and Hongyu Zhou and Vasileios Tzoumas},
  journal={IEEE Robotics and Automation Letters},
We enable efficient and effective coordination in unpredictable environments, i.e., in environments whose future evolution is unknown a priori and even adversarial. We are motivated by the future of autonomy that involves multiple robots coordinating in dynamic, unstructured, and adversarial environments to complete complex tasks such as target tracking, environmental mapping, and area monitoring. Such tasks are often modeled as submodular maximization coordination problems. We introduce the… 

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