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arXiv · 2304.08932

Distributed Search Planning in 3-D Environments With a Dynamically Varying Number of Agents

Savvas Papaioannou·Panayiotis Kolios·Theocharis Theocharides·Christos G. Panayiotou·Marios M. Polycarpou
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Abstract

In this work, a novel distributed search-planning framework is proposed, where a dynamically varying team of autonomous agents cooperate in order to search multiple objects of interest in three-dimension (3-D). It is assumed that the agents can enter and exit the mission space at any point in time, and as a result the number of agents that actively participate in the mission varies over time. The proposed distributed search-planning framework takes into account the agent dynamical and sensing model, and the dynamically varying number of agents, and utilizes model predictive control (MPC) to generate cooperative search trajectories over a finite rolling planning horizon. This enables the agents to adapt their decisions on-line while considering the plans of their peers, maximizing their search planning performance, and reducing the duplication of work.

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BibTeXRIS

Savvas Papaioannou, Panayiotis Kolios, Theocharis Theocharides, Christos G. Panayiotou, Marios M. Polycarpou. 2023-04-18. Distributed Search Planning in 3-D Environments With a Dynamically Varying Number of Agents. https://doi.org/10.1109/tsmc.2023.3240023

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