Value-of-information aware active task assignment

Beipeng Mu; Girish Chowdhary; Jonathan P. How

doi:10.1117/12.2020660

23 May 2013 Value-of-information aware active task assignment

Beipeng Mu, Girish Chowdhary, Jonathan P. How

Proceedings Volume 8746, Algorithms for Synthetic Aperture Radar Imagery XX; 87460P (2013) https://doi.org/10.1117/12.2020660
Event: SPIE Defense, Security, and Sensing, 2013, Baltimore, Maryland, United States

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.

Citation Download Citation

Beipeng Mu, Girish Chowdhary, and Jonathan P. How "Value-of-information aware active task assignment", Proc. SPIE 8746, Algorithms for Synthetic Aperture Radar Imagery XX, 87460P (23 May 2013); https://doi.org/10.1117/12.2020660

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