Delle Fave, Francesco Maria, Xu, Zhe, Rogers, Alex and Jennings, Nicholas R.
Decentralised Coordination of Unmanned Aerial Vehicles for Target Search using the Max-Sum Algorithm
At AAMAS 2010 Workshop on Agents in Real Time and Environment, Canada.
10 - 14 May 2010.
This is the latest version of this item.
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%.
Conference or Workshop Item
||Event Dates: 10 - 14 May
|Venue - Dates:
||AAMAS 2010 Workshop on Agents in Real Time and Environment, Canada, 2010-05-10 - 2010-05-14
||Agents, Interactions & Complexity
|11 May 2010||Published|
||08 Apr 2010 16:02
||17 Apr 2017 18:28
|Further Information:||Google Scholar|
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)
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