Distributed Informative Path Planning by Gaussian Process Regression

Overview

This repository contains the source code for the paper:
"Connectivity-Preserving Distributed Informative Path Planning for Mobile Robot Networks,"
published in IEEE Robotics and Automation Letters, vol. 9, no. 3, pp. 2949–2956.

Requirements

• Programming Language: Julia 1.8.5
• GaussianProcess.jl 0.12.5

Scenarios

Two simulation scenarios are provided:

1. 10 robots in a 200 m × 200 m environment
   Run: sim10robots200.jl
2. 25 robots in a 400 m × 400 m environment
   Run: sim25robots400.jl

Notes on Computation

The simulations leverage distributed computing to improve performance.
Please set the number of workers according to your computational resources by adjusting the variable nP in the simulation files above.