Mobility Information Capacity of Multi-Robot Systems: Safety-Aware Maneuver Design
Mobility Information Capacity of Multi-Robot Systems: Safety-Aware Maneuver Design
This research introduces a mobility information capacity (MIC) framework that quantifies the maximum observable maneuver freedom in multi-robot systems by modeling mutual information between joint maneuvers and noisy trajectory observations.
The paper proposes a theoretical framework for quantifying mobility information capacity in multi-robot systems, linking maneuver freedom to observation reliability under safety constraints; results are validated via aerial-robot simulation rather than physical deployment.
Source: arXiv Robotics — research abstracts · Read original article ↗
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and derive conditions under which covariance optimization reduces to resource allocation across mobility modes. Finite joint maneuver codebooks are then constructed through individual risk screening and noise-whitened trajectory separation, with bounds linking sequence recovery error and achieved information to the capacity benchmarks. An aerial-robot simulation study evaluates spectral convergence, safety-aware all
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Source：arXiv Robotics — research abstracts · arxiv.org