Agent capability in persistent mission planning using approximate dynamic programming
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How_Agent capability.pdf
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762.66 KB
Format
Adobe PDF
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Author(s)
Bethke, Brett M.
Redding, Josh
How, Jonathan P.
Vavrina, Matthew A.
Vian, John
Date Issued
July 2010
Journal
Proceedings of the American Control Conference, 2010
Publisher
Institute of Electrical and Electronics Engineers
Citation
Bethke, B. et al. “Agent capability in persistent mission planning using approximate dynamic programming.” American Control Conference (ACC), 2010. 2010. 1623-1628. ©2010 IEEE.
Version
Final published version
Abstract
This paper presents an extension of our previous work on the persistent surveillance problem. An extended problem formulation incorporates real-time changes in agent capabilities as estimated by an onboard health monitoring system in addition to the existing communication constraints, stochastic sensor failure and fuel flow models, and the basic constraints of providing surveillance coverage using a team of autonomous agents. An approximate policy for the persistent surveillance problem is computed using a parallel, distributed implementation of the approximate dynamic programming algorithm known as Bellman Residual Elimination. This paper also presents flight test results which demonstrate that this approximate policy correctly coordinates the team to simultaneously provide reliable surveillance coverage and a communications link for the duration of the mission and appropriately retasks agents to maintain these services in the event of agent capability degradation.
MIT Department
Massachusetts Institute of Technology. Aerospace Controls Laboratory
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
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Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5531611&isnumber=5530425
