Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Online Exploration of an Unknown Region of Interest with a Team of
  Aerial Robots   In this paper, we study the problem of exploring an unknown Region Of
Interest (ROI) with a team of aerial robots. The size and shape of the ROI are
unknown to the robots. The objective is to find a tour for each robot such that
each point in the ROI must be visible from the field-of-view of some robot
along its tour. In conventional exploration using ground robots, the ROI
boundary is typically also as an obstacle and robots are naturally constrained
to the interior of this ROI. Instead, we study the case where aerial robots are
not restricted to flying inside the ROI (and can fly over the boundary of the
ROI).
  We propose a recursive depth-first search-based algorithm that yields a
constant competitive ratio for the exploration problem. Our analysis also
extends to the case where the ROI is translating, \eg, in the case of marine
plumes. In the simpler version of the problem where the ROI is modeled as a 2D
grid, the competitive ratio is
$\frac{2(S_r+S_p)(R+\lfloor\log{R}\rfloor)}{(S_r-S_p)(1+\lfloor\log{R}\rfloor)}$
where $R$ is the number of robots, and $S_r$ and $S_p$ are the robot speed and
the ROI speed, respectively. We also consider a more realistic scenario where
the ROI shape is not restricted to grid cells but an arbitrary shape. We show
our algorithm has
$\frac{2(S_r+S_p)(18R+\lfloor\log{R}\rfloor)}{(S_r-S_p)(1+\lfloor\log{R}\rfloor)}$
competitive ratio under some conditions. We empirically verify our algorithm
using simulations as well as a proof-of-concept experiment mapping a 2D ROI
using an aerial robot with a downwards-facing camera.

23
The categories of this paper are: solv-int
2
The categories of this paper are: math
18
The categories of this paper are: econ
32
The categories of this paper are: atom-ph
4
The categories of this paper are: cond-mat
34
The categories of this paper are: chem-ph
20
The categories of this paper are: acc-phys
8
The categories of this paper are: hep-ex
26
The categories of this paper are: bayes-an
24
The categories of this paper are: dg-ga
5
The categories of this paper are: gr-qc
37
The categories of this paper are: supr-con
13
The categories of this paper are: quant-ph
31
The categories of this paper are: ao-sci
9
The categories of this paper are: nlin
14
The categories of this paper are: math-ph