2021
DOI: 10.48550/arxiv.2106.00895
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Field Estimation using Robotic Swarms through Bayesian Regression and Mean-Field Feedback

Abstract: Recent years have seen an increased interest in using mean-field density based modelling and control strategy for deploying robotic swarms. In this paper, we study how to dynamically deploy the robots subject to their physical constraints to efficiently measure and reconstruct certain unknown spatial field (e.g. the air pollution index over a city). Specifically, the evolution of the robots' density is modelled by mean-field partial differential equations (PDEs) which are uniquely determined by the robots' ind… Show more

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