Real-Time Area Coverage and Target Localization Using Receding-Horizon Ergodic Exploration
Real-Time Area Coverage and Target Localization Using Receding-Horizon Ergodic Exploration
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DOI：
10.1109/tro.2017.2766265
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发表时间：
2018-02-01
影响因子：
7.8
通讯作者：
Murphey, Todd D.
中科院分区：
文献类型：
--
作者：
Mavrommati, Anastasia;Tzorakoleftherakis, Emmanouil;Murphey, Todd D.
尽管对于覆盖、搜索和目标定位的问题存在许多解决方案——通常是单独解决的——但是否存在一个统一的策略，以一种连贯的方式解决这些目标，而不是特定于应用程序，仍然是一个很大程度上开放的研究问题。在本文中，我们开发了一种基于混合系统理论的后退视界遍历控制方法，有可能填补这一空白。非线性模型预测控制算法规划实时运动，根据感知域上期望信息密度定义的分布，最优地提高遍历性。我们建立了一个关于分布的全局稳定性保证的理论框架。此外，该方法在多个代理之间是可分发的，因此每个代理可以独立计算自己的控制，同时在通信网络中共享其覆盖的统计信息。我们在目标定位的背景下进行了仿真和实验验证，表明该算法与被跟踪目标的数量无关，并且可以在计算量有限的硬件平台上实时运行。
Although a number of solutions exist for the problems of coverage, search, and target localization-commonly addressed separately-whether there exists a unified strategy that addresses these objectives in a coherent manner without being application specific remains a largely open research question. In this paper, we develop a receding-horizon ergodic control approach, based on hybrid systems theory, that has the potential to fill this gap. The nonlinear model-predictive control algorithm plans real-time motions that optimally improve ergodicity with respect to a distribution defined by the expected information density across the sensing domain. We establish a theoretical framework for global stability guarantees with respect to a distribution. Moreover, the approach is distributable across multiple agents so that each agent can independently compute its own control while sharing statistics of its coverage across a communication network. We demonstrate the method in both simulation and in experiment in the context of target localization, illustrating that the algorithm is independent of the number of targets being tracked and can be run in real time on computationally limited hardware platforms.