Can I read Distributed Search Planning in 3-D Environments With a Dynamically Varying Number of Agents on EtoBox?

Distributed Search Planning in 3-D Environments With a Dynamically Varying Number of Agents by Papaioannou, Savvas; Kolios, Panayiotis; Theocharides, Theocharis; Panayiotou, Christos G.; Polycarpou, Marios M. is a scholarly article available to read on EtoBox.

What is Distributed Search Planning in 3-D Environments With a Dynamically Varying Number of Agents about?

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.

Author

Papaioannou, Savvas; Kolios, Panayiotis; Theocharides, Theocharis; Panayiotou, Christos G.; Polycarpou, Marios M.

Published

2023

Language

EN