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Proceedings Paper

Value-of-information aware active task assignment
Author(s): Beipeng Mu; Girish Chowdhary; Jonathan P. How
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Paper Abstract

This paper discusses the problem of robust allocation of unmanned vehicles (T.N) to targets with uncertainties. In particular, the team consists of heterogeneous vehicles with different exploration and exploitation abilities. A general framework is presented to model uncertainties in the planning problems, which goes beyond traditional Gaussian noise. Traditionally, exploration and exploitation are decoupled into two assignment problems are planned with un-correlated goals. The coupled planning method considered here assign exploration vehicles based on its potential influence of the exploitation. Furthermore, a fully decentralized algorithm, Consensus-Based Bundle Algorithm (CBBA), is used to implement the decoupled and coupled methods. CBBA can handle system dynamic constraints such as target distance, vehicle velocities, and has computation complexity polynomial to the number of vehicles and targets. The coupled method is shown to have improved planning performance in a simulated scenario with uncertainties about target classification.

Paper Details

Date Published: 23 May 2013
PDF: 11 pages
Proc. SPIE 8746, Algorithms for Synthetic Aperture Radar Imagery XX, 87460P (23 May 2013); doi: 10.1117/12.2020660
Show Author Affiliations
Beipeng Mu, Massachusetts Institute of Technology (United States)
Girish Chowdhary, Massachusetts Institute of Technology (United States)
Jonathan P. How, Massachusetts Institute of Technology (United States)

Published in SPIE Proceedings Vol. 8746:
Algorithms for Synthetic Aperture Radar Imagery XX
Edmund Zelnio; Frederick D. Garber, Editor(s)

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