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Quantiles of a natural phenomena can provide scientists with an importantunderstanding of different spreads of concentrations. When there are severalavailable robots, it may be advantageous to pool resources in a collaborativeway to improve performance. A multirobot team can be difficult to practicallybring together and coordinate. To this end, we present a study across severalaxes of the impact of using multiple robots to estimate quantiles of adistribution of interest using an informative path planning formulation. Wemeasure quantile estimation accuracy with increasing team size to understandwhat benefits result from a multirobot approach in a drone exploration task ofanalyzing the algae concentration in lakes. We additionally perform an analysison several parameters, including the spread of robot initial positions, theplanning budget, and inter-robot communication, and find that while using morerobots generally results in lower estimation error, this benefit is achievedunder certain conditions. We present our findings in the context of real fieldrobotic applications and discuss the implications of the results andinteresting directions for future work.

A Study on Multirobot Quantile Estimation in Natural Environments