Distributed Coverage Control for Spatial Processes Estimation With Noisy Observations
Mattia Mantovani,
Federico Pratissoli,
Lorenzo Sabattini
Abstract:The present study addresses the challenge of effectively deploying a multi-robot team to optimally cover a domain with unknown density distribution. Specifically, we propose a distribute coverage-based control algorithm that enables a group of autonomous robots to simultaneously learn and estimate a spatial field over the domain. Additionally, we consider a scenario where the robots are deployed in a noisy environment or equipped with noisy sensors. To accomplish this, the control strategy utilizes Gaussian Pr… Show more
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