Non-Monotone Energy-Aware Information Gathering for Heterogeneous Robot Teams

by   Xiaoyi Cai, et al.

This paper considers the problem of planning trajectories for a team of sensor-equipped robots to reduce uncertainty about a dynamical process. Optimizing the trade-off between information gain and energy cost (e.g., control effort, distance travelled) is desirable but leads to a non-monotone objective function in the set of robot trajectories. Therefore, common multi-robot planning algorithms based on techniques such as coordinate descent lose their performance guarantees. Methods based on local search provide performance guarantees for optimizing a non-monotone submodular function, but require access to all robots' trajectories, making it not suitable for distributed execution. This work proposes a distributed planning approach based on local search and shows how lazy/greedy methods can be adopted to reduce the computation and communication of the approach. We demonstrate the efficacy of the proposed method by coordinating robot teams composed of both ground and aerial vehicles with different sensing/control profiles and evaluate the algorithm's performance in two target tracking scenarios. Compared to the naive distributed execution of local search, our approach saves up to 60 communication and 80–92 robots, while outperforming the coordinate descent based algorithm in achieving a desirable trade-off between sensing and energy cost.



page 1

page 6


Scalable Distributed Planning for Multi-Robot, Multi-Target Tracking

In multi-robot multi-target tracking, robots coordinate to monitor group...

Technical Report: Distributed Sampling-based Planning for Non-Myopic Active Information Gathering

This paper addresses the problem of active information gathering for mul...

Sensor Planning for Large Numbers of Robots

*The following abbreviates the abstract. Please refer to the thesis for ...

Resilient Active Information Gathering with Mobile Robots

Applications in robotics, such as multi-robot target tracking, involve t...

Adaptive and Risk-Aware Target Tracking with Heterogeneous Robot Teams

We consider a scenario where a team of robots with heterogeneous sensors...

Resource-Aware Distributed Submodular Maximization: A Paradigm for Multi-Robot Decision-Making

We introduce the first algorithm for distributed decision-making that pr...

Technical Report: Scalable Active Information Acquisition for Multi-Robot Systems

This paper proposes a novel highly scalable non-myopic planning algorith...
This week in AI

Get the week's most popular data science and artificial intelligence research sent straight to your inbox every Saturday.