Graph-based multi-agent informative path planning for active perception

ETH Automatic Control Laboratory (spring 2025), Prof. Florian Dörfler: multi-agent informative path planning for online graph exploration with node-wise beam search, adaptive Voronoi partitioning, and a bitmap-based hidden-path mechanism to limit redundant exploration. Compared Euclidean Voronoi, Dijkstra–Voronoi, decentralised hidden-claim, and spectral room assignment; Voronoi coordination balanced quality and cost, with Dijkstra–Voronoi NBS+ strongest on mean gain at similar runtime; spectral layouts cleaner but less flexible.