Authors
Ruoyu Lin, Magnus Egerstedt
Abstract
We developed an optimal coverage strategy for a multi-robot system across a domain of interest for applications involving pose-sensitive event services, e.g., elder care robots lift fallen people in certain poses to try to achieve the best user experience, and mobile charging robots transmit power to another team of robots that are designed to execute specific tasks and need to be recharged in certain poses. The multi-robot system has heterogeneous relative mobility, which can be naturally encoded by the Riemannian metrics.
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