Dynamic Coverage of Time-Varying Environments Using a Mobile Robot - A Communication-Aware Perspective

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In this paper, the authors study the problem of dynamic coverage of a number of points of interest, in a time-varying environment, using a mobile robot. They consider the scenario where the uncertainty at any point of interest that is not being sensed by the onboard sensor of the robot is continuously growing. The robot is then tasked with moving along periodic trajectories, continuously sensing the points of interest and transmitting its gathered sensory data to a remote base station. They assume realistic fading channels between the robot and the base station.