Distributed Search Planning in 3-D Environments With a Dynamically Varying Number of Agents
| Autor: | Savvas Papaioannou, Panayiotis Kolios, Theocharis Theocharides, Christos G. Panayiotou, Marios M. Polycarpou |
|---|---|
| Rok vydání: | 2023 |
| Předmět: |
Human-Computer Interaction
Control and Systems Engineering Multi-agent systems Search problems FOS: Electrical engineering electronic engineering information engineering Trajectory planning Systems and Control (eess.SY) Electrical and Electronic Engineering Electrical Engineering and Systems Science - Systems and Control Software Computer Science Applications |
| Zdroj: | IEEE Transactions on Systems, Man, and Cybernetics: Systems. :1-14 |
| ISSN: | 2168-2232 2168-2216 |
| Popis: | In this work, a novel distributed search-planning framework is proposed, where a dynamically varying team of autonomous agents cooperate in order to search multiple objects of interest in three-dimension (3-D). It is assumed that the agents can enter and exit the mission space at any point in time, and as a result the number of agents that actively participate in the mission varies over time. The proposed distributed search-planning framework takes into account the agent dynamical and sensing model, and the dynamically varying number of agents, and utilizes model predictive control (MPC) to generate cooperative search trajectories over a finite rolling planning horizon. This enables the agents to adapt their decisions on-line while considering the plans of their peers, maximizing their search planning performance, and reducing the duplication of work. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2023 |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|