Publication

Multi-robot Online Coverage with a Team of Resource-Constrained Micro Aerial Vehicles

Alcherio Martinoli
2026

Abstract

We present a novel coordination scheme for online multi-robot coverage with a team of resource-constrained aerial vehicles relying on the PH-tree data structure. We propose a hybrid system architecture where coverage tasks are assigned to robots in a centralized manner, and individual robots plan their paths cooperatively in a distributed fashion. In this way, robots can focus only on local path planning tasks, while a ground station ensures coordination among the team. We show the applicability of our method to various objects and quantitatively evaluate the performance of our solution for various robot team sizes.

Official source

https://infoscience.epfl.ch/entities/publication/61622ce6-db82-4fd1-b532-86f471736d56

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Alcherio Martinoli
2026

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/61622ce6-db82-4fd1-b532-86f471736d56

About this result

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Multi-robot Online Coverage with a Team of Resource-Constrained Micro Aerial Vehicles

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