Towards a Unifying Information Theoretic Framework for Multi-Robot Exploration and Surveillance

TL;DRAbstract

In this talk we discuss our recent work on a
\nmathematical framework for pursuing exploration
\nand surveillance tasks using multiple collaborating
\nrobots. We ground this framework in the first
\nprinciples of information theory, and in doing
\nso establish a unifying model that considers the
\ninter-dependencies of system resources pertaining
\nto robot mobility, sensing, and communication.
\nThe framework identifies metrics that characterize
\nsystem performance and provides qualitative understanding
\nof quantitative results. We show that
\nexploration and surveillance can be considered
\nclose relatives who can both be described with
\nthe same framework, and as a result approaches
\ndeveloped for one task can adaptively (or even
\nbetter simultaneously) achieve goals for the other.

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