Scalable Coverage Path Planning of Multi-Robot Teams for Monitoring Non-Convex Areas
This repository contains data and code of our SCoPP algorithm that are used to solve multi-robot cooperative path planning problem. For further information on the SCoPP algorithm set, please refer to our paper: Collins, L., Ghassemi, P., Chowdhury, S., Dantu, K., Esfahani, E., and Doermann, D., Scalable Coverage Path Planning of Multi-Robot Teams for Monitoring Non-Convex Areas, 2021 IEEE International Conference on Robotics and Automation (ICRA 2021).
This section provides further information on the usage of this code:
Swarm_Surveillance is a swarm robot area survey solver QLB/demo.py can be run and shows how the code can be used. A monitoring algorithm class must be created in order to use the QLB algorithm. Information on the input parameters for this class are given in QLB/monitoring_algorithms.py
pyDOE networkx mlrose scikit-learn shapely scipy matplotlib numpy seaborn pandas