Optimal Sequential Stochastic Deployment of Multiple Passenger Robots

@article{Lee2021OptimalSS,
  title={Optimal Sequential Stochastic Deployment of Multiple Passenger Robots},
  author={Chris Yu Hsuan Lee and Graeme Best and Geoffrey A. Hollinger},
  journal={2021 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2021},
  pages={8934-8940}
}
We present a new algorithm for deploying passenger robots in marsupial robot systems. A marsupial robot system consists of a carrier robot (e.g., a ground vehicle), which is highly capable and has a long mission duration, and at least one passenger robot (e.g., a short-duration aerial vehicle) transported by the carrier. We optimize the performance of passenger robot deployment by proposing an algorithm that reasons over uncertainty by exploiting information about the prior probability… 

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