A scout robot compresses its map with a rate-distortion optimization whose closed-form reverse water-filling solution sends only the regions relevant to a ground robot's planned path.
Collaborative multi-robot search and rescue: Planning, coordination, perception, and active vision,
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Communication-Aware Map Compression for Online Path-Planning: A Rate-Distortion Approach
A scout robot compresses its map with a rate-distortion optimization whose closed-form reverse water-filling solution sends only the regions relevant to a ground robot's planned path.