Decentralised Coordination of Unmanned Aerial Vehicles for Target Search using the Max-Sum Algorithm


Delle Fave, Francesco Maria, Xu, Zhe, Rogers, Alex and Jennings, Nicholas R. (2010) Decentralised Coordination of Unmanned Aerial Vehicles for Target Search using the Max-Sum Algorithm. In, AAMAS 2010 Workshop on Agents in Real Time and Environment , Toronto , Canada, 10 - 14 May 2010. , 35-44.

This is the latest version of this item.

Download

[img] PDF
Download (893Kb)

Description/Abstract

This paper considers the coordination of a team of Unmanned Aerial Vehicles (UAVs) that are deployed to search for a moving target within a continuous space. We present an online and decentralised coordination mechanism, based on the max-sum algorithm, to address this problem. In doing so, we introduce a novel coordination technique to the field of robotic search, and we extend the max-sum algorithm beyond the much simpler coordination problems to which it has been applied to date. Within a simulation environment, we benchmarked our max-sum algorithm against three other existing approaches for coordinating UAVs. The results showed that coordination with the max sum algorithm out-performed a best response algorithm, which represents the state of the art in the coordination of UAVs for search, by up to 26%. The results further showed that the max-sum algorithm out-performed an implicitly coordinated approach, where the coordination arises from the agents making decisions based on a common belief, by up to 34% and finally a non-coordinated approach by up to 68%.

Item Type: Conference or Workshop Item (Paper)
Additional Information: Event Dates: 10 - 14 May
Keywords: multi-agent coordination
Divisions: Faculty of Physical Sciences and Engineering > Electronics and Computer Science > Agents, Interactions & Complexity
ePrint ID: 270812
Date Deposited: 08 Apr 2010 16:02
Last Modified: 27 Mar 2014 20:15
Further Information:Google Scholar
URI: http://eprints.soton.ac.uk/id/eprint/270812

Available Versions of this Item

  • Decentralised Coordination of Unmanned Aerial Vehicles for Target Search using the Max-Sum Algorithm. (deposited 08 Apr 2010 16:02) [Currently Displayed]

Actions (login required)

View Item View Item

Downloads from ePrints over the past year. Other digital versions may also be available to download e.g. from the publisher's website.

View more statistics