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Open AccessArticle

Cooperative Detection of Multiple Targets by the Group of Mobile Agents

1
Department Industrial Engineering, Tel-Aviv University, Tel-Aviv 6997801, Israel
2
LAMBDA Laboratory, Tel-Aviv University, Ramat Aviv 6997801, Israel
3
Department Industrial Engineering, Ariel University, Ariel 40700, Israel
*
Author to whom correspondence should be addressed.
Entropy 2020, 22(5), 512; https://doi.org/10.3390/e22050512
Received: 26 February 2020 / Revised: 13 April 2020 / Accepted: 28 April 2020 / Published: 30 April 2020
(This article belongs to the Special Issue Applications of Information Theory to Industrial and Service Systems)
The paper considers the detection of multiple targets by a group of mobile robots that perform under uncertainty. The agents are equipped with sensors with positive and non-negligible probabilities of detecting the targets at different distances. The goal is to define the trajectories of the agents that can lead to the detection of the targets in minimal time. The suggested solution follows the classical Koopman’s approach applied to an occupancy grid, while the decision-making and control schemes are conducted based on information-theoretic criteria. Sensor fusion in each agent and over the agents is implemented using a general Bayesian scheme. The presented procedures follow the expected information gain approach utilizing the “center of view” and the “center of gravity” algorithms. These methods are compared with a simulated learning method. The activity of the procedures is analyzed using numerical simulations. View Full-Text
Keywords: search and detection; multi-agent systems; probabilistic decision-making; information gain; stochastic learning; probabilistic search search and detection; multi-agent systems; probabilistic decision-making; information gain; stochastic learning; probabilistic search
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MDPI and ACS Style

Matzliach, B.; Ben-Gal, I.; Kagan, E. Cooperative Detection of Multiple Targets by the Group of Mobile Agents. Entropy 2020, 22, 512. https://doi.org/10.3390/e22050512

AMA Style

Matzliach B, Ben-Gal I, Kagan E. Cooperative Detection of Multiple Targets by the Group of Mobile Agents. Entropy. 2020; 22(5):512. https://doi.org/10.3390/e22050512

Chicago/Turabian Style

Matzliach, Barouch; Ben-Gal, Irad; Kagan, Evgeny. 2020. "Cooperative Detection of Multiple Targets by the Group of Mobile Agents" Entropy 22, no. 5: 512. https://doi.org/10.3390/e22050512

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