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Entropy Driven Height Profile Estimation with Multiple UAVs under Sparsity Constraints

Manß, Christoph and Wiedemann, Thomas and Shutin, Dmitriy (2017) Entropy Driven Height Profile Estimation with Multiple UAVs under Sparsity Constraints. In: 8th International Workshop on Wireless Networking and Control for Unmanned Autonomous Vehicles as part of the program of the IEEE International COnference on Global Communications (GLOBECOM 2017). 8th International Workshop on Wireless Networking and Control for Unmanned Autonomous Vehicles, 4-8. Dez. 2017, Singapur.

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Abstract

This paper shows an application of a multi-agent distributed learning system for UAV-based exploration under sparsity constraints. It is assumed that Unmanned Aerial Vehicles (UAVs) cooperatively explore a static spatial field that can be represented with a few non-zero coefficients, i.e., the model of a process is sparse. The recovery of the sparse model in a distributed setting is solved with a Distributed LASSO (DLASSO) algorithm that implements an Alternating Direction Method of Multipliers (ADMM). Based on the cooperatively estimated model, a swarm of UAVs decides on its next movements using optimal experiment design strategies. To this end, second order information of the optimization problem is approximated using a theory of slantly differentiable functions. Also, an additional adaptive trade-off parameter between exploration of new areas and exploitation of the already obtained information is proposed and tested. The experiments are performed in a laboratory environment with two UAVs measuring a height profile with an ultrasonic sensor. The experiments show that the proposed method is very useful for time consuming measurements, if the observed process can be assumed to be sparse. Also, the adaptive method increases the overall system performance with respect to the number of measurements.

Item URL in elib:https://elib.dlr.de/118884/
Document Type:Conference or Workshop Item (Speech)
Title:Entropy Driven Height Profile Estimation with Multiple UAVs under Sparsity Constraints
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Manß, ChristophChristoph.Manss (at) dlr.deUNSPECIFIED
Wiedemann, ThomasThomas.Wiedemann (at) dlr.deUNSPECIFIED
Shutin, DmitriyDmitriy.Shutin (at) dlr.deUNSPECIFIED
Date:2017
Journal or Publication Title:8th International Workshop on Wireless Networking and Control for Unmanned Autonomous Vehicles as part of the program of the IEEE International COnference on Global Communications (GLOBECOM 2017)
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:UAV, Entropy driven Exploration, swarm, multi-Agent system
Event Title:8th International Workshop on Wireless Networking and Control for Unmanned Autonomous Vehicles
Event Location:Singapur
Event Type:Workshop
Event Dates:4-8. Dez. 2017
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 (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Manß, Christoph
Deposited On:09 Feb 2018 08:27
Last Modified:28 Jul 2020 11:12

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