AUTONOMOUS DECISION IN MULTI-ROBOT SYSTEMS
Hopchak, Matthew S.
Davis, Duane T.
Giles, Kathleen B.
MetadataShow full item record
This research evaluates potential auction algorithm approaches to a multi-robot area search problem and uses the Naval Postgraduate School Advanced Robotic System Engineering Laboratory’s multi-UAV system to implement, test, and evaluate selected exemplars. Ultimately, for multi-robot systems to achieve useful objectives autonomously, they need to reliably analyze objectives and assign supporting tasks to individual vehicles. The market-based approaches analyzed in this research provide an intuitive mechanism for robust realization of this capability in highly dynamic and uncertain environments. We present our implementation, AuctionSearch, evaluate its design trade-offs, and influence agent bidding strategies based on per-robot speed and endurance. We test our implementation in simulation and in live-fly experiments across three different search areas with system sizes ranging from three to 10 robots each. The future of warfare will include unmanned systems in many facets of operations and support. Furthermore, it is likely that human intervention and direct handling of autonomous systems’ actions will be replaced by human supervision of autonomously developed courses of action on the battlefield. For multi-robot systems to have the capacity to develop and execute complex courses of action, they must be capable of linking complex tasks together. Our research and testing demonstrate that auction algorithms are well suited for autonomous decision.
RightsThis publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.
Showing items related by title, author, creator and subject.
Redmond, Patrick J. (Monterey, California. Naval Postgraduate School, 2007-03);The next generation of military capabilities will hinge on systems of systems technologies, entailing the integration of numerous large scale systems into a complex system of systems whose capability exceeds the capabilities ...
Achieving Better Buying Power for Mobile Open Architecture Software Systems through Diverse Acquisition Scenarios Scacchi, Walt; Alspaugh, Thomas A. (Monterey, California. Naval Postgraduate School, 2017-05); UCI-AM-17-041This research seeks to identify, track, and analyze software component costs and cost reduction opportunities within diverse acquisition life cycle scenarios for open architecture systems accommodating Web-based and mobile ...
Blanco, Hilda (2008-06);Prioritizing is a fundamental task in capital facilities planning and finance. The protection of critical infrastructure systems, essential systems that underpin our society’s “national defense, economic prosperity and ...