CRII: RI: Assignment, Routing, and Coordination of Diverse Robotic Sensors

这个项目研究不同机器人传感器的协调，重点是观察给定环境中的所有点的任务。机器人被要求访问视点，以便所有视点共同观察环境。当潜在视点的数量超过机器人的数量时，将要求一些机器人访问和覆盖多个视点。并不是所有的机器人都能看到所有的视点。该项目引入了一种具有多样性约束的分配和路由问题的新组合。这些调查为实现了解多样性在机器人群体中的作用这一首要目标奠定了基础。PI与弗吉尼亚理工大学加强工程多样性中心合作，以确保广泛的外联，特别是对K-12学生，并促进STEM招生的多样性。

This project studies the coordination of diverse robotic sensors by focusing on the task of observing all points in a given environment. The robots are required to visit viewpoints, such that all the viewpoints collectively observe the environment. When the number of potential viewpoints exceeds the number of robots, some robots will be required to visit and cover multiple viewpoints. Not all viewpoints are reachable from all the robots. This project introduces a novel combination of assignment and routing problems with diversity constraints. These investigations lay the foundations to achieve the overarching goal of understanding the role of diversity in robot swarms. The PI works with the Center for the Enhancement of Engineering Diversity at Virginia Tech to ensure broad outreach, in particular, to K-12 students and for promoting diversity in STEM recruitment.