NDLI: Multi-object two-agent coordinated search

Content Provider	IEEE Xplore Digital Library
Author	Huanyu Ding Castanon, D.A.
Copyright Year	2015
Abstract	In this paper, we discuss stochastic control approaches to sensor control problems for the purposes of locating multiple objects in a compact domain using two agents. Unlike most previous work, we consider measurement models that do not focus measurements on individual object locations, but instead obtain indicators of the presence of objects in a chosen region. By changing the region which they observe, sensing agents collect enough information to locate the objects of interest. Our work extends similar results for the case of one sensing agent and one hidden object to the case of twp sensing agents and multiple objects. We derive an optimal multistage sensing policy for the case of two agents, and provide an explicit construction for determining adaptively the sensing actions for each agent under the assumption that they share the sensed measurements. We discuss extension of the results to multiple agents, and illustrate the performance of our proposed policy in simulation, comparing to alternative policies based on spatial domain partition for each agent.
Starting Page	1
Ending Page	6
File Size	250171
Page Count	6
File Format	PDF
e-ISBN	9781467371780
DOI	10.1109/ComplexSys.2015.7385989
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-11-09
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Search problems Entropy Dynamic programming Noise measurement History
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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