Solving sensor network coverage problems by distributed asynchronous actor-critic methods
Solving sensor network coverage problems by distributed asynchronous actor-critic methods
复制标题
通过分布式异步actor-critic方法解决传感器网络覆盖问题
DOI：
10.1109/cdc.2007.4434277
复制
发表时间：
2007
期刊：
影响因子：
--
通讯作者：
I. Paschalidis
中科院分区：
文献类型：
--
作者：
P. Pennesi;I. Paschalidis
利用传感器网络功能的多机器人系统可以成功地用于在动态变化的部分已知环境中处理多种任务，包括覆盖、监视、目标跟踪和觅食。在本文中，我们定义了一个奖励收集问题，其中奖励的位置和价值都随着时间而变化。我们提出了一种分布式演员批评家方法来解决该问题，建立其收敛性，并展示其适应能力。我们的分析利用了演员批评家方法和共识算法的想法。
Multi-robots systems exploiting sensor network capabilities can be successfully employed to cope with several tasks, including coverage, surveillance, target tracking, and foraging, in partially known environments subject to dynamical changes. In this paper we define a reward collection problem, where both the positions and the values of the rewards change with time. We propose a distributed actor-critic method to solve the problem, establish its convergence, and demonstrate its adaptation capabilities. Our analysis leverages ideas from actor-critic methods and consensus algorithms.