NavEX casts multi-agent deployment in non-convex or uneven terrain as submodular maximization over exemplar clustering with visibility-graph or RRT* distance metrics.
Statistical coverage control of mobile sensor networks,
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NavEX: A Multi-Agent Coverage in Non-Convex and Uneven Environments via Exemplar-Clustering
NavEX casts multi-agent deployment in non-convex or uneven terrain as submodular maximization over exemplar clustering with visibility-graph or RRT* distance metrics.