On Sensing, Agility, and Computation Requirements for a Data-gathering Agile Robotic Vehicle
Fangchang Ma,
Sertac Karaman
Abstract:We consider a robotic vehicle tasked with gathering information by visiting a set of spatially-distributed data sources, the locations of which are not known a priori, but are discovered on the fly. We assume a first-order robot dynamics involving drift and that the locations of the data sources are Poisson-distributed. In this setting, we characterize the performance of the robot in terms of its sensing, agility, and computation capabilities. More specifically, the robot's performance is characterized in term… Show more
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