Predicting Digging Success for Unmanned Aircraft System Sensor Emplacement
Predicting Digging Success for Unmanned Aircraft System Sensor Emplacement
复制标题
预测无人驾驶飞机系统传感器安装的挖掘成功
DOI：
--
复制
发表时间：
2018
期刊：
影响因子：
--
通讯作者：
Justin M. Bradley
中科院分区：
文献类型：
--
作者：
Adam Plowcha;Yue Sun;Carrick Detweiler;Justin M. Bradley
我们已经开发了一个自主的，挖掘，无人驾驶飞机系统（UAS）的传感器安置。一个关键的挑战是快速确定特定的挖掘活动是否会导致成功的安置，从而使系统能够尝试另一个位置。我们设计了一种使用马尔可夫决策过程的首个决策算法，用于自主监控挖掘UAS活动的活动，以快速决定是否可能成功。此外，我们通过许多实验证明，我们的方法优于其他决策方法，总体成功率为82.5%。
We have developed an autonomous, digging, Unmanned Aircraft System (UAS) for sensor emplacement. A key challenge is quickly determining whether or not a particular digging activity will lead to successful emplacement, thereby allowing the system to potentially try another location. We have designed a first-of-its-kind decision-making algorithm using a Markov Decision Process to autonomously monitor the activity of a digging UAS activity to quickly decide if success is likely. Further, we demonstrate through many experimental trials that our method outperforms other decision-making methods with an overall success rate of 82.5%.