Sujit, PB and Ghose, Debasish (2006) Self assessment schemes for multi-agent cooperative search. In: American Control Conference-2006, JUN 14-16, 2006, Minneapolis, MN,, pp. 1388-1393.
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In this paper, we present self assessment schemes (SAS) for multiple agents performing a search mission on an unknown terrain. The agents are subjected to limited communication and sensor ranges. The agents communicate and coordinate with their neighbours to arrive at route decisions. The self assessment schemes proposed here have very low communication and computational overhead. The SAS also has attractive features like scalability to large number of agents and fast decision-making capability. SAS can be used with partial or complete information sharing schemes during the search mission. We validate the performance of SAS using simulation on a large search space consisting of 100 agents with different information structures and self assessment schemes. We also compare the results obtained using SAS with that of a previously proposed negotiation scheme. The simulation results show that the SAS is scalable to large number of agents and can perform as good as the negotiation schemes with reduced communication requirement (almost 20% of that required for negotiation).
|Item Type:||Conference Paper|
|Additional Information:||Copyright of this article belongs to Institute of Electrical and Electronics Engineers.|
|Department/Centre:||Division of Mechanical Sciences > Aerospace Engineering (Formerly, Aeronautical Engineering)|
|Date Deposited:||09 Aug 2010 06:40|
|Last Modified:||19 Sep 2010 06:12|
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