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dc.contributor.authorBethke, Brett M.
dc.contributor.authorRedding, Josh
dc.contributor.authorHow, Jonathan P.
dc.contributor.authorVavrina, Matthew A.
dc.contributor.authorVian, John
dc.date.accessioned2010-10-06T14:11:43Z
dc.date.available2010-10-06T14:11:43Z
dc.date.issued2010-07
dc.date.submitted2010-06
dc.identifier.isbn978-1-4244-7426-4
dc.identifier.issn0743-1619
dc.identifier.otherINSPEC Accession Number: 11509070
dc.identifier.urihttp://hdl.handle.net/1721.1/58888
dc.description.abstractThis 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.en_US
dc.description.sponsorshipUnited States. Air Force Office of Scientific Research (grant FA9550-08-1-0086)en_US
dc.description.sponsorshipBoeing Scientific Research Laboratoriesen_US
dc.description.sponsorshipHertz Foundationen_US
dc.language.isoen_US
dc.publisherInstitute of Electrical and Electronics Engineersen_US
dc.relation.isversionofhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5531611&isnumber=5530425en_US
dc.rightsArticle 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.en_US
dc.sourceIEEEen_US
dc.titleAgent capability in persistent mission planning using approximate dynamic programmingen_US
dc.typeArticleen_US
dc.identifier.citationBethke, B. et al. “Agent capability in persistent mission planning using approximate dynamic programming.” American Control Conference (ACC), 2010. 2010. 1623-1628. ©2010 IEEE.en_US
dc.contributor.departmentMassachusetts Institute of Technology. Aerospace Controls Laboratoryen_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Aeronautics and Astronauticsen_US
dc.contributor.approverHow, Jonathan P.
dc.contributor.mitauthorBethke, Brett M.
dc.contributor.mitauthorRedding, Josh
dc.contributor.mitauthorHow, Jonathan P.
dc.relation.journalProceedings of the American Control Conference, 2010en_US
dc.eprint.versionFinal published versionen_US
dc.type.urihttp://purl.org/eprint/type/ConferencePaperen_US
eprint.statushttp://purl.org/eprint/status/PeerRevieweden_US
dspace.orderedauthorsBethke, Brett; Redding, Joshua; How, Jonathan P.; Vavrina, Matthew A.; Vian, John
dc.identifier.orcidhttps://orcid.org/0000-0001-8576-1930
mit.licensePUBLISHER_POLICYen_US
mit.metadata.statusComplete


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