Intermittent Information-Driven Multi-Agent Area-Restricted Search

Entropy

卷:22

Alex Skvortsov¹  Branko Ristic² 

[1] Maritime Division, Defence Science and Technology Group, Fishermans Bend, VIC 3207, Australia;

[2] School of Engineering, RMIT University, Melbourne, VIC 3000, Australia;

关键词: autonomous search;    infotaxis;    multi-agent system;    decentralised control;   

DOI  :  10.3390/e22060635

来源: DOAJ

【 摘 要 】

The problem is a two-dimensional area-restricted search for a target using a coordinated team of autonomous mobile sensing platforms (agents). Sensing is characterised by a range-dependent probability of detection, with a non-zero probability of false alarms. The context is underwater surveillance using a swarm of amphibious drones equipped with active sonars. The paper develops an intermittent information-driven search strategy, which alternates between two phases: the fast and non-receptive displacement phase (called the ballistic phase) with a slow displacement and sensing phase (called the diffusive phase). The proposed multi-agent search strategy is carried out in a decentralised manner, which means that all computations (estimation and motion control) are done locally. Coordination of agents is achieved by exchanging the data with the neighbours only, in a manner which does not require global knowledge of the communication network topology.

【 授权许可】

Unknown