Decentralized Decision Making and Information Sharing in a Team of Autonomous Mobile Agents

Decentralized Decision Making and Information Sharing in a Team of Autonomous Mobile Agents

Bibliographic Details
Main Author: Liao, Yan
Language:English
Published: University of Cincinnati / OhioLINK 2012
Subjects:
Electrical Engineering
Cooperative search
Distributed task assignment
Multi-agent coordination
Information sharing
Information fusion
Umnanned aerial vehicles
Online Access:http://rave.ohiolink.edu/etdc/view?acc_num=ucin1353101024
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spelling ndltd-OhioLink-oai-etd.ohiolink.edu-ucin13531010242021-08-03T05:20:30Z Decentralized Decision Making and Information Sharing in a Team of Autonomous Mobile Agents Liao, Yan Electrical Engineering Cooperative search Distributed task assignment Multi-agent coordination Information sharing Information fusion Umnanned aerial vehicles <p>In an attempt to realize decentralized cooperation and coordination in a heterogeneousteam of autonomous mobile agents, we have proposed a platform to model many practicalissues encountered in the process. The system includes an unexplored environment and ateam of agents with different capabilities. The agents' movement follows trajectories limitedby speed and turning radius, and their actions may be affected by their orientation relativeto targets. The stochasticity introduced by task transition makes o-line task assignmentinapplicable.</p><p>A basic distributed real-time assignment algorithm and an intelligent predictive decisionmaking strategy are proposed and compared. The results show that prediction can helpimprove the performance of cooperative agent teams engaged in search-and-engage missions.These algorithms are implemented with the assumption of perfect communication.</p><p>The assumption of perfect communication is relaxed in the second part of the work reported,resulting in a truly decentralized system that is simulated in a somewhat simplermission scenario. Each agent in this decentralized model has its own subjective informationbase (SIB) based on limited observations and information sharing, and uses a set of informationfusion heuristics to maintain this SIB. The performance of the system is evaluatedrelative to the degree of information sharing. The results indicate that cooperation basedon information exchange { even if it is imperfect { can produce excellent performance.</p><p>A hybrid communication strategy combining occasional limited-range communicationand opportunistic peer-to-peer synchronization is then proposed. Using Monte Carlo simulations,it is shown that this strategy can significantly supplement the efficacy of a diffusiveinformation sharing strategy.</p> 2012 English text University of Cincinnati / OhioLINK http://rave.ohiolink.edu/etdc/view?acc_num=ucin1353101024 http://rave.ohiolink.edu/etdc/view?acc_num=ucin1353101024 unrestricted This thesis or dissertation is protected by copyright: all rights reserved. It may not be copied or redistributed beyond the terms of applicable copyright laws.
collection NDLTD
language English
sources NDLTD
topic Electrical Engineering
Cooperative search
Distributed task assignment
Multi-agent coordination
Information sharing
Information fusion
Umnanned aerial vehicles
spellingShingle Electrical Engineering
Cooperative search
Distributed task assignment
Multi-agent coordination
Information sharing
Information fusion
Umnanned aerial vehicles
Liao, Yan
Decentralized Decision Making and Information Sharing in a Team of Autonomous Mobile Agents
author Liao, Yan
author_facet Liao, Yan
author_sort Liao, Yan
title Decentralized Decision Making and Information Sharing in a Team of Autonomous Mobile Agents
title_short Decentralized Decision Making and Information Sharing in a Team of Autonomous Mobile Agents
title_full Decentralized Decision Making and Information Sharing in a Team of Autonomous Mobile Agents
title_fullStr Decentralized Decision Making and Information Sharing in a Team of Autonomous Mobile Agents
title_full_unstemmed Decentralized Decision Making and Information Sharing in a Team of Autonomous Mobile Agents
title_sort decentralized decision making and information sharing in a team of autonomous mobile agents
publisher University of Cincinnati / OhioLINK
publishDate 2012
url http://rave.ohiolink.edu/etdc/view?acc_num=ucin1353101024
work_keys_str_mv AT liaoyan decentralizeddecisionmakingandinformationsharinginateamofautonomousmobileagents
_version_ 1719418909238493184

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