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Multi-robot Learning-based Informative Path Planning Using Spatio-Temporal Gaussian Process Kalman Filter

arXiv · AI, language, vision and robotics · article · Aug 31, 2026 · UTC

Multi-robot informative path planning (IPP) for persistent target monitoring requires robots to reason about spatial uncertainty, temporal evolution, and practical sensing and communication constraints. Recent learning-based multi-robot IPP methods use Gaussian Processes (GPs) for target uncertainty, but often rely on simplified sensing models and centralized belief updates. We propose a grid-based spatio-temporal GP-Kalman filtering framework for learning-based multi-robot IPP. Instead of maintaining one GP per target, we represent anonymous target presence as a single latent field over a dis

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