Weijie Yuan has proposed a mobility information capacity framework to quantify how much a fleet of robots in a shared workspace can vary its movements, and how reliably those variations can be observed, in a paper posted on arXiv.
The measure is based on the mutual information between the robots' joint manoeuvres and noisy observations of their paths, under limits on manoeuvre resources. Safety limits such as workspace boundaries, separation between robots and actuator constraints are turned into restrictions on the manoeuvres.
A simulation with aerial robots tested how the measure behaves as the fleet grows and when safety limits apply. The author says it complements occupancy and throughput measures.
Background
Weijie Yuan
Robotics researcher
Weijie Yuan is the author of a paper on the mobility information capacity of multi-robot systems.
