Heterogeneous Swarms for Maritime Dynamic Target Search and Tracking
Name
2008.00696.pdf
Description
Submitted version
Size
3.56 MB
Format
Adobe PDF
Checksum (MD5)
69a8798a341169b04693ce51d4159a29
Author(s)
Kwa, Hian Lee
Tokic, Grgur
Bouffanais, Roland
Yue, Dick KP
Date Issued
2020
Journal
Global Oceans 2020: Singapore – U.S. Gulf Coast
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Kwa, Hian Lee, Tokic, Grgur, Bouffanais, Roland and Yue, Dick KP. 2020. "Heterogeneous Swarms for Maritime Dynamic Target Search and Tracking." Global Oceans 2020: Singapore – U.S. Gulf Coast.
Version
Original manuscript
Abstract
Current strategies employed for maritime target search and tracking are primarily based on the use of agents following a predetermined path to perform a systematic sweep of a search area. Recently, dynamic Particle Swarm Optimization (PSO) algorithms have been used together with swarming multi-robot systems (MRS), giving search and tracking solutions the added properties of robustness, scalability, and flexibility. Swarming MRS also give the end-user the opportunity to incrementally upgrade the robotic system, inevitably leading to the use of heterogeneous swarming MRS. However, such systems have not been well studied and incorporating upgraded agents into a swarm may result in degraded mission performances. In this paper, we propose a PSO-based strategy using a topological k-nearest neighbor graph with tunable exploration and exploitation dynamics with an adaptive repulsion parameter. This strategy is implemented within a simulated swarm of 50 agents with varying proportions of fast agents tracking a target represented by a fictitious binary function. Through these simulations, we are able to demonstrate an increase in the swarm's collective response level and target tracking performance by substituting in a proportion of fast buoys.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/IEEECONF38699.2020.9389145
