1,437 research outputs found
Search and Pursuit-Evasion in Mobile Robotics, A survey
This paper surveys recent results in pursuitevasion
and autonomous search relevant to applications
in mobile robotics. We provide a taxonomy of search
problems that highlights the differences resulting from
varying assumptions on the searchers, targets, and the
environment. We then list a number of fundamental
results in the areas of pursuit-evasion and probabilistic
search, and we discuss field implementations on mobile
robotic systems. In addition, we highlight current open
problems in the area and explore avenues for future
work
Path Planning Problems with Side Observations-When Colonels Play Hide-and-Seek
Resource allocation games such as the famous Colonel Blotto (CB) and
Hide-and-Seek (HS) games are often used to model a large variety of practical
problems, but only in their one-shot versions. Indeed, due to their extremely
large strategy space, it remains an open question how one can efficiently learn
in these games. In this work, we show that the online CB and HS games can be
cast as path planning problems with side-observations (SOPPP): at each stage, a
learner chooses a path on a directed acyclic graph and suffers the sum of
losses that are adversarially assigned to the corresponding edges; and she then
receives semi-bandit feedback with side-observations (i.e., she observes the
losses on the chosen edges plus some others). We propose a novel algorithm,
EXP3-OE, the first-of-its-kind with guaranteed efficient running time for SOPPP
without requiring any auxiliary oracle. We provide an expected-regret bound of
EXP3-OE in SOPPP matching the order of the best benchmark in the literature.
Moreover, we introduce additional assumptions on the observability model under
which we can further improve the regret bounds of EXP3-OE. We illustrate the
benefit of using EXP3-OE in SOPPP by applying it to the online CB and HS games.Comment: Previously, this work appeared as arXiv:1911.09023 which was
mistakenly submitted as a new article (has been submitted to be withdrawn).
This is a preprint of the work published in Proceedings of the 34th AAAI
Conference on Artificial Intelligence (AAAI
Intercepting a Target with Sensor Swarms
The article of record as published may be located at http://dx.doi.org/10.1109/HICSS.2013.281This paper introduces a new coordination method to intercept a mobile
target in urban areas with a team of sensor platforms. The task is to intercept
the target before it leaves the area. The approach combines algorithmic
concepts from ant colony and particle swarm optimization in order to bias the
search and to spread the team in the search area. The algorithms introduced
are tested in simulation experiments on grids. The success probabilities
measured are relatively high for most parameter combinations, and the target
is intercepted in roughly half the simulation time on average. Furthermore,
the experiments reveal robust behavior with regard to the parameter setting
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