Mixed Observable RRT: Multi-Agent Mission-Planning in Partially Observable Environments
Abstract
This paper considers centralized mission-planning for a heterogeneous multi-agent system with the aim of locating a hidden target. We propose a mixed observable setting, consisting of a fully observable state-space and a partially observable environment, using a hidden Markov model. First, we construct rapidly exploring random trees (RRTs) to introduce the mixed observable RRT for finding plausible mission plans giving way-points for each agent. Leveraging this construction, we present a path-selection strategy based on a dynamic programming approach, which accounts for the uncertainty from partial observations and minimizes the expected cost. Finally, we combine the high-level plan with model predictive controllers to evaluate the approach on an experimental setup consisting of a quadruped robot and a drone. It is shown that agents are able to make intelligent decisions to explore the area efficiently and to locate the target through collaborative actions.
Attached Files
Submitted - 2110.01002.pdf
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Additional details
- Eprint ID
- 113582
- Resolver ID
- CaltechAUTHORS:20220224-200818977
- Created
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2022-02-28Created from EPrint's datestamp field
- Updated
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2023-06-02Created from EPrint's last_modified field