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A decision-theoretic planning approach for multi-robot exploration and event search
GREYC Laboratory, University of Caen Lower-Normandy, France. (GREYC, Université de Caen Normandie)ORCID iD: 0000-0002-2385-9470
GREYC Laboratory, University of Caen Lower-Normandy, France. (GREYC, Université de Caen Normandie)
Airbus Defence and Space, Val de Reuil, France.
2015 (English)In: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Institute of Electrical and Electronics Engineers (IEEE), 2015Conference paper, Published paper (Refereed)
Abstract [en]

Event exploration is the process of exploring a topologically known environment to gather information about dynamic events in this environment. Using multi-robot systems for event exploration brings major challenges such as finding and communicating relevant information. This paper presents a solution to these challenges in the form of a distributed decision-theoretic model called MAPING (Multi-Agent Planning for INformation Gathering), in which each agent computes a communication and an exploration strategy by assessing the relevance of an observation for another agent. The agents use an extended belief state that contains not only their own beliefs but also approximations of other agents’ beliefs. MAPING includes a forgetting mechanism to ensure that the event-exploration remains open-ended. To overcome the resolution complexity due to the extended belief state we use a method based on the well-known adopted assumption of variables independence. We evaluate our approach on different event exploration problems with varying complexity. The experimental results on simulation show the effectiveness of MAPING, its ability to scale up and its ability to face real-word applications.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2015.
National Category
Computer Sciences
Identifiers
URN: urn:nbn:se:oru:diva-62759OAI: oai:DiVA.org:oru-62759DiVA: diva2:1159235
Conference
International Conference on Intelligent Robots and Systems (IROS’15), Hamburg, Germany, September 28 - October 2, 2015
Available from: 2017-11-22 Created: 2017-11-22 Last updated: 2018-01-13Bibliographically approved

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A decision-theoretic planning approach for multi-robot exploration and event search

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Renoux, Jennifer

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CiteExportLink to record
Permanent link

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Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf