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Multi-agent exploration of spatial dynamical processes under sparsity constraints

Wiedemann, Thomas and Manss, Christoph and Shutin, Dmitriy (2017) Multi-agent exploration of spatial dynamical processes under sparsity constraints. Autonomous Agents and Multi-Agent Systems. Springer. DOI: 10.1007/s10458-017-9375-7 ISSN 1387-2532

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Abstract

This paper addresses the development of an efficient information gathering and exploration strategy for robotic missions when a high level of autonomy is expected. A multiagent system is considered, which consists of several mobile sensing platforms with the goal to identify the parameters of a spatio-temporal process modeled by a partial differential equation. Specifically, an exploration of a diffusion process driven by an unknown number of sparsely located sources is considered. A probabilistic approach toward partial differential equations and sparsity constraints modeling with factor graphs is developed and realized by a customized message passing algorithm. The algorithm permits efficient identification of source parameters: the number of sources, their locations and amplitudes. In addition, an exploration strategy to guide the agents to more informative sampling locations is proposed; this accelerates identification of the source parameters. The message passing implementation facilitates efficient distributed implementation, which is of significant advantage with respect to scalability, computational complexity and an implementation in a multi-agent system. The effectiveness of the algorithm is demonstrated using synthetic data in simulations.

Item URL in elib:https://elib.dlr.de/113276/
Document Type:Article
Title:Multi-agent exploration of spatial dynamical processes under sparsity constraints
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Wiedemann, ThomasThomas.Wiedemann (at) dlr.deUNSPECIFIED
Manss, Christophchistoph.manss (at) dlr.deUNSPECIFIED
Shutin, DmitriyDmitriy.Shutin (at) dlr.deUNSPECIFIED
Date:14 July 2017
Journal or Publication Title:Autonomous Agents and Multi-Agent Systems
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
DOI :10.1007/s10458-017-9375-7
Publisher:Springer
ISSN:1387-2532
Status:Published
Keywords:Multi-agent exploration · Partial differential equation · Factor graph · Sparse Bayesian learning · Message passing
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Communication and Navigation
DLR - Research area:Raumfahrt
DLR - Program:R KN - Kommunikation und Navigation
DLR - Research theme (Project):R - Project Navigation 4.0
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Wiedemann, Thomas
Deposited On:08 Aug 2017 11:59
Last Modified:08 Mar 2018 18:40

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