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Distributed Decision-Theoretic Active Perception for Multi-robot Active Information Gathering
University of Caen, Caen, France. (GREYC, Université de Caen Normandie)ORCID iD: 0000-0002-2385-9470
University of Caen, Caen, France. (GREYC, Université de Caen Normandie)
Airbus Defence and Space, Val de Reuil, France.
2014 (English)In: Modeling Decisions for Artificial Intelligence: 11th International Conference, MDAI 2014, Tokyo, Japan, October 29-31, 2014: Proceedings / [ed] Torra, V.; Narukawa, Y., Endo, Y., Springer , 2014, Vol. 8825, p. 60-71Conference paper, Published paper (Refereed)
Abstract [en]

Multirobot systems have made tremendous progress in exploration and surveillance. In that kind of problem, agents are not required to perform a given task but should gather as much information as possible. However, information gathering tasks usually remain passive. In this paper, we present a multirobot model for active information gathering. In this model, robots explore, assess the relevance, update their beliefs and communicate the appropriate information to relevant robots. To do so, we propose a distributed decision process where a robot maintains a belief matrix representing its beliefs and beliefs about the beliefs of the other robots. This decision process uses entropy and Kullback-Leibler in a reward function to access the relevance of their beliefs and the divergence with each other. This model allows the derivation of a policy for gathering information to make the entropy low and a communication policy to reduce the divergence. An experimental scenario has been developed for an indoor information gathering mission.

Place, publisher, year, edition, pages
Springer , 2014. Vol. 8825, p. 60-71
Series
Lecture notes in artificial intelligence, ISSN 0302-9743, E-ISSN 1611-3349 ; 8825
National Category
Computer Sciences
Identifiers
URN: urn:nbn:se:oru:diva-62757ISI: 000345587400006ISBN: 978-3-319-12053-9 (print)ISBN: 978-3-319-12054-6 (electronic)OAI: oai:DiVA.org:oru-62757DiVA, id: diva2:1159237
Conference
11th International Conference on Modeling Decisions for Artificial Intelligence (MDAI 2014), Tokyo, Japan, October 29-31, 2014
Available from: 2017-11-22 Created: 2017-11-22 Last updated: 2018-06-25Bibliographically approved

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A Distributed Decision-Theoretic Model for Multiagent Active Information Gathering

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Renoux, Jennifer

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CiteExportLink to record
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Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
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  • Other style
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Language
  • de-DE
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Output format
  • html
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