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Multi-robot planning strategies for spatio-temporal sampling

Series: Bangalore Theory Seminars

Speaker: Sandeep Manjanna Plaksha University

Date/Time: Jun 22 16:00:00

Location: CSA Seminar Hall (Room No. 254, First Floor)

Abstract:
Understanding environmental and ecological processes, such as the health of coral reefs, or plankton blooms, or oil spills, requires persistent sampling of physical phenomena at spatio-temporal scales. In my research, I propose that efficient robotic sampling of a spatial field with regions of high local variance (hotspots) requires adaptive non-uniform sampling techniques. In this talk, I present algorithms and strategies to achieve efficient robotic sampling and reconstruction of non-uniform spatial fields. Spatial fields commonly occurring in nature consist of hotspots exhibiting extreme measurements and much higher spatial variability than the rest of the field, which is characterized by continuous, positively skewed, spatially correlated measurements. To collect data for modeling such fields, I apply informed path planning: a data collection strategy that computes paths to be traversed by a robot while considering resource constraints, such as power availability, and the uncertainty of the resulting model that should be minimized. I present informed non-myopic path planning techniques for robotic platforms to efficiently collect measurements from a spatio-temporal field and build a model of the underlying physical phenomenon with high accuracy. These methods are highly adaptive and run in real-time, which are key features for the methods to run on a real robot operating in real-world challenging environments.


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We are grateful to the Kirani family for generously supporting the theory seminar series


Hosts: Rachana Gusain, Rahul Madhavan, Rameesh Paul, KVN Sreenivas