Search decisions for teams of automata
Search decisions for teams of automata
复制标题
自动机团队的搜索决策
DOI：
10.1109/cdc.2008.4739365
复制
发表时间：
2008
期刊：
影响因子：
--
通讯作者：
J. Baillieul
中科院分区：
文献类型：
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作者：
D. Baronov;J. Baillieul
在机器人搜索问题的背景下，探索与开发决策的动态。建立在以前的工作机器人搜索连同我们自己的工作势场映射的反应控制律，我们提出了一套新的搜索协议的团队传感器使能的移动的机器人。重点是合作策略，搜索可能随时间变化的潜在领域。我们提出的问题，快速找到地区的潜力达到或超过一定的阈值。搜索协议有两个不同的组成部分。在一个勘探阶段代理执行随机或结构化搜索，寻找字段达到或超过规定阈值的位置。一旦达到阈值点，就初始化“开发”组件，并部署代理，以便快速绘制与字段的给定值相关联的演变等值线。保守的策略将强调在等值线的一个小邻域内细化该领域的详细知识，而积极的策略将强调对邻近领土的广泛勘探。研究的主要决策问题涉及到寻找最优的积极勘探策略。此外，考虑了代理人在勘探和开发之间的分配问题。一个性能指标的发展，比较所提出的方法与标准的方法，如随机搜索和分布式光栅扫描。
The dynamics of exploration vs exploitation decisions are explored in the context of robotic search problems. Building on prior work on robotic search together with our own work on reactive control laws for potential field mapping, we propose a new set of search protocols for teams of sensor-enabled mobile robots. The focus is on collaborative strategies for the search of potential fields that are possibly time varying. We pose the problem of quickly finding regions where the potential achieves or exceeds a certain threshold. The search protocol has two distinct components. In an ¿exploration phase¿, agents execute either a randomized or structured search, seeking places where the field achieves or exceeds the prescribed threshold. Once a threshold point is reached, the ¿exploitation¿ component is initialized and the agents deploy so as to rapidly map the evolving isoline associated with the given value of the field. Conservative strategies will emphasize refining the detailed knowledge of the field in a small neighborhood of the isoline, while aggressive strategies will emphasize wide-ranging exploration of neighboring territory. The main decision problem under study involves finding the optimally aggressive exploration strategy. Additionally, the problem of the allocation of the agents between ¿exploration¿ and ¿exploitation¿ is considered. A performance metric is developed to compare the proposed methods with standard approaches such as random search and distributed raster scans.