College of Computing, Engineering & Construction
Master of Science in Computer and Information Sciences (MS)
NACO controlled Corporate Body
University of North Florida. School of Computing
Dr. Ayan Dutta
Dr. O Patrick Kreidl
Dr. Anirban Ghosh
Dr. Sherif Elfayoumy
Dr. William F Klostermeyer
This research activity is primarily focused to obtain information from an environment with the help of a group of coordinated robots. Each robot is responsible to plan its path independently but the robots, as an overall system, have a common goal of maximum information collection. This domain of research is known as Multi-Robot Informative Path Planning (MIPP). MIPP is very motivating due to its challenging nature and numerous real-world applications. It has shown its presence from semiautomatic applications like robotic search and rescue to fully automatic applications like interplanetary missions.
We consider the NP-Hard problem of MIPP in an unknown environment having communication constraints and budget limitations in robots. We propose a novel approach that uses continuous region partitioning to efficiently divide an initially unknown environment among the robots based on the discovered obstacles. The research objective is to collect a higher amount of information and target a uniform work distribution among robots. Simulation results show that our proposed approach is successful in reducing the initial imbalance in the work distribution of the robots while ensuring close-to-reality spatial modeling within a reasonable amount of time.
Bhattacharya, Amitabh, "Multi-Robot Informative Path Planning in Unknown Environments Through Continuous Region Partitioning" (2020). UNF Graduate Theses and Dissertations. 956.