Jointly optimizing robot start locations with ergodic trajectories improves coverage by roughly 30 to 39 percent over random starts for homogeneous and heterogeneous teams in the reported experiments.
Spectral-based distributed ergodic coverage for heterogeneous multi- agent search,
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Optimizing Start Locations in Ergodic Search for Disaster Response
Jointly optimizing robot start locations with ergodic trajectories improves coverage by roughly 30 to 39 percent over random starts for homogeneous and heterogeneous teams in the reported experiments.