A Cooperative Multi-Agent Probabilistic Framework for Search and Track Missions

Fuente: arXiv

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Bibliographic Details
Main Authors:	Papaioannou, Savvas, Kolios, Panayiotis, Theocharides, Theocharis, Panayiotou, Christos G., Polycarpou, Marios M.
Format:	Preprint
Published:	2023
Subjects:	Systems and Control
Online Access:	Acceder al recurso
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author	Papaioannou, Savvas Kolios, Panayiotis Theocharides, Theocharis Panayiotou, Christos G. Polycarpou, Marios M.
author_facet	Papaioannou, Savvas Kolios, Panayiotis Theocharides, Theocharis Panayiotou, Christos G. Polycarpou, Marios M.
contents	In this work a robust and scalable cooperative multi-agent searching and tracking framework is proposed. Specifically, we study the problem of cooperative searching and tracking of multiple moving targets by a group of autonomous mobile agents with limited sensing capabilities. We assume that the actual number of targets present is not known a priori and that target births/deaths can occur anywhere inside the surveillance region thus efficient search strategies are required to detect and track as many targets as possible. To address the aforementioned challenges we recursively compute and propagate in time the searching-and-tracking (SAT) density. Using the SAT-density, we then develop decentralized cooperative look-ahead strategies for efficient searching and tracking of an unknown number of targets inside a bounded surveillance area.
format	Preprint
id	arxiv_https___arxiv_org_abs_2302_10723
institution	arXiv
publishDate	2023
record_format	arxiv
spellingShingle	A Cooperative Multi-Agent Probabilistic Framework for Search and Track Missions Papaioannou, Savvas Kolios, Panayiotis Theocharides, Theocharis Panayiotou, Christos G. Polycarpou, Marios M. Systems and Control In this work a robust and scalable cooperative multi-agent searching and tracking framework is proposed. Specifically, we study the problem of cooperative searching and tracking of multiple moving targets by a group of autonomous mobile agents with limited sensing capabilities. We assume that the actual number of targets present is not known a priori and that target births/deaths can occur anywhere inside the surveillance region thus efficient search strategies are required to detect and track as many targets as possible. To address the aforementioned challenges we recursively compute and propagate in time the searching-and-tracking (SAT) density. Using the SAT-density, we then develop decentralized cooperative look-ahead strategies for efficient searching and tracking of an unknown number of targets inside a bounded surveillance area.
title	A Cooperative Multi-Agent Probabilistic Framework for Search and Track Missions
topic	Systems and Control
url	https://arxiv.org/abs/2302.10723