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Exploration and control of stochastic spatiotemporal systems with mobile agents

Conference Paper


Abstract


  • Control of a spatiotemporal field with mobile agents has received considerable recent

    interest. A key problem in this area is the tendency of agents to become static once a local control

    objective is met. To overcome this issue, we propose a novel approach inspired by classic control

    theory, cautious control, that augments the control cost with field uncertainty. This provokes

    the agents into exploring the field by being attracted to regions of high uncertainty, in addition

    to satisfying the control objective. A top-down approach is employed to reduce the potentially

    complex, abstract problem into an N-step ahead decision making problem, which is easy to

    implement and shown to give improved results when compared to both static agents and agents

    which do not take into account field uncertainty. The ensuing intuitive conclusion is that, when

    faced with the problem of spatiotemporal control with mobile agents, it is largely advantageous

    to include field uncertainty in the trajectory planning control objective.

Authors


Publication Date


  • 2011

Citation


  • Mangion, A. Zammit., Anderson, S. R. & Kadirkamanathan, V. (2011). Exploration and control of stochastic spatiotemporal systems with mobile agents. 18th IFAC World Congress (pp. 4489-4494). Milan Italy: Curran Associates, Inc..

Scopus Eid


  • 2-s2.0-84862606638

Has Global Citation Frequency


Start Page


  • 4489

End Page


  • 4494

Place Of Publication


  • Milan Italy

Abstract


  • Control of a spatiotemporal field with mobile agents has received considerable recent

    interest. A key problem in this area is the tendency of agents to become static once a local control

    objective is met. To overcome this issue, we propose a novel approach inspired by classic control

    theory, cautious control, that augments the control cost with field uncertainty. This provokes

    the agents into exploring the field by being attracted to regions of high uncertainty, in addition

    to satisfying the control objective. A top-down approach is employed to reduce the potentially

    complex, abstract problem into an N-step ahead decision making problem, which is easy to

    implement and shown to give improved results when compared to both static agents and agents

    which do not take into account field uncertainty. The ensuing intuitive conclusion is that, when

    faced with the problem of spatiotemporal control with mobile agents, it is largely advantageous

    to include field uncertainty in the trajectory planning control objective.

Authors


Publication Date


  • 2011

Citation


  • Mangion, A. Zammit., Anderson, S. R. & Kadirkamanathan, V. (2011). Exploration and control of stochastic spatiotemporal systems with mobile agents. 18th IFAC World Congress (pp. 4489-4494). Milan Italy: Curran Associates, Inc..

Scopus Eid


  • 2-s2.0-84862606638

Has Global Citation Frequency


Start Page


  • 4489

End Page


  • 4494

Place Of Publication


  • Milan Italy